CN109270836A - A kind of integrated signal extracting method, device and equipment - Google Patents
A kind of integrated signal extracting method, device and equipment Download PDFInfo
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- CN109270836A CN109270836A CN201811325882.3A CN201811325882A CN109270836A CN 109270836 A CN109270836 A CN 109270836A CN 201811325882 A CN201811325882 A CN 201811325882A CN 109270836 A CN109270836 A CN 109270836A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
It includes: S1 that the embodiment of the present application, which discloses a kind of integrated signal extracting method, device, equipment and computer readable storage medium, method: by low-pass filtering time constant divided by preset value, obtaining 1 rank inertia time constant；S2: 1 rank inertia operation of preset value time is carried out to input signal according to 1 rank inertia time constant, obtains preset value output signal；S3: averaging to preset value output signal, obtains filtering signal, and export；S4: add operation is carried out to input signal and filtering signal, and using the result of operation as input signal, return step S2.Compared with the existing technology, integrated signal extracting method provided herein effectively increases the efficiency that integration control has tracking steady-state deviation, is easy engineering application.
Description
Technical field
This application involves automatic control technology field more particularly to a kind of integrated signal extracting methods, device and equipment.
Background technique
PID (Proportion integration differentiation) control technology has extensively in process control field
General application, PID are primarily suitable for some constant control systems, i.e. process gives constant.In some following control systems, process
The shortcomings that the characteristics of given regular variation of needs, servo antrol sufficiently exposes PID control, such as the output of process track process
Given performance is not high.
In order to solve the deficiency of PID control, need to have PID control some new understanding.From the point of view of observation
Problem, ratio (Proportion, the P) control in PID is a kind of current disturbance observer (Now disturbance
Observer, NDO), play the role of elimination and currently disturbs.Integral (Integration, I) control is a kind of constant value disturbance sight
It surveys device (Constant disturbance observer, CDO), plays the role of eliminating steady-state deviation.Differential
(differentiation, D) control be a kind of advanced disturbance observer (Advanced disturbance observer,
ADO).Play the role of eliminating disturbance in advance.Integration control largely also determines while eliminating steady-state deviation
The output of process tracks the given performance of process.
In PID, conventional integration control there is a problem of tracking the inefficient of steady-state deviation.
Summary of the invention
The embodiment of the present application provides a kind of integrated signal extracting method, device and equipment, effectively increases integration control
In the presence of the efficiency of tracking steady-state deviation, it is easy engineering application.
In view of this, the application first aspect provides a kind of integrated signal extracting method, which comprises
S1: by low-pass filtering time constant divided by preset value, 1 rank inertia time constant is obtained；
S2: 1 rank inertia operation of preset value time is carried out to input signal according to 1 rank inertia time constant, obtains preset value
Output signal；
S3: averaging to preset value output signal, obtains filtering signal, and export；
S4: add operation is carried out to input signal and filtering signal, and using the result of operation as input signal, returns to step
Rapid S2.
Optionally,
The preset value is specially 10.
Optionally,
It is described by low-pass filtering time constant divided by preset value, before obtaining 1 rank inertia time constant, further includes:
Obtain low-pass filtering time constant.
The application second aspect provides a kind of integrated signal extraction element, comprising: conversion module, computing module, output
Module, loop module；
The conversion module, for low-pass filtering time constant divided by preset value, to be obtained 1 rank inertia time constant；
The computing module, for carrying out preset value time 1 rank inertia fortune to input signal according to 1 rank inertia time constant
It calculates, obtains preset value output signal；
The output module obtains filtering signal, and export for averaging to preset value output signal；
The loop module, for carrying out add operation to input signal and filtering signal, and using the result of operation as
Input signal returns to computing module.
It optionally, further include obtaining module；
The acquisition module, for obtaining low-pass filtering time constant.
The application third aspect provides a kind of integrated signal extract equipment, and the equipment includes processor and storage
Device:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for the integral letter according to the instruction execution in said program code as described in above-mentioned first aspect
Number extracting method.
The application fourth aspect provides a kind of computer readable storage medium, and the computer readable storage medium is used for
Program code is stored, said program code is used to execute the integrated signal extracting method as described in above-mentioned first aspect.
The 5th aspect of the application provides a kind of computer program product including instruction, when it runs on computers
When, so that the computer executes the integrated signal extracting method as described in above-mentioned first aspect.
As can be seen from the above technical solutions, the embodiment of the present application has the advantage that
In the embodiment of the present application, provide a kind of integrated signal extracting method and device, by by the low-pass filtering time it is normal
Number obtains 1 rank inertia time constant divided by preset value；1 rank of preset value time is carried out to input signal according to 1 rank inertia time constant
Inertia operation obtains preset value output signal；It averages, obtain filtering signal and exports to preset value output signal,
Filtering signal and input signal are subjected to add operation again, and operation result is returned into 1 rank inertia operation, thus persistently output filter
Wave signal, i.e. integrated signal.Compared with the existing technology, applied by integrated signal extracting method provided by the embodiment of the present application
Novel integrator can effectively improve the low-frequency gain of controller；In terms of phase-frequency characteristic: the intermediate-frequency gain of the embodiment of the present application compared with
Low, frequency domain phase stability margin can be effectively improved by showing；In terms of the output of process: the embodiment of the present invention has than regular integral
The higher output speed of device shows the performance that can effectively improve tracking steady-state deviation.
Detailed description of the invention
Fig. 1 is the method flow diagram of integrated signal extracting method first embodiment in the embodiment of the present application；
Fig. 2 is the method flow diagram of integrated signal extracting method second embodiment in the embodiment of the present application；
Fig. 3 is operation flow diagram when preset value is 10 in integrated signal extracting method in the embodiment of the present application；
Fig. 4 is the filter of the corresponding filter of inertia combination filtering mode and filter in the prior art provided herein
Wave property contrast schematic diagram；
Fig. 5 is that the signal of regular integral device transmits schematic diagram；
Fig. 6 is that the signal transmission of the corresponding novel integrator of integrated signal extracting mode provided by the embodiment of the present application is shown
It is intended to；
Fig. 7 is the output of integrated signal acquisition methods corresponding novel integrator and common integral device provided herein
Character Comparison schematic diagram；
Fig. 8 is the amplitude-frequency of integrated signal acquisition methods corresponding novel integrator and common integral device provided herein
Gain characteristic contrast schematic diagram；
Fig. 9 is the phase frequency of integrated signal acquisition methods corresponding novel integrator and common integral device provided herein
Phase characteristic contrast schematic diagram；
Figure 10 is the structural schematic diagram of integrated signal extraction element provided by the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
The application devises a kind of integrated signal extracting method, effectively increases integration control and there is tracking steady-state deviation
Efficiency is easy engineering application.
The following are the first embodiments of integrated signal extracting method provided herein.Referring to Fig. 1, Fig. 1 is this Shen
Please in embodiment integrated signal extracting method first embodiment method flow diagram, specifically include:
Step 101, low-pass filtering time constant is obtained into 1 rank inertia time constant divided by preset value；
It is understood that filter has fixed low-pass filtering time constant, method provided herein needs first
By time constant divided by a preset value, 1 rank inertia time constant required for the application is obtained, this preset value can root
According to requiring to be selected.
Step 102,1 rank inertia operation of preset value time is carried out to input signal according to 1 rank inertia time constant, is preset
It is worth an output signal；
1 rank inertia operation is carried out to input signal with 1 obtained rank inertia time constant, it should be noted that low pass
Time constant filter divided by preset value, as carry out the number of 1 rank inertia operation.For example, low-pass filtering time constant is removed
With 16, then just carrying out 16 1 rank inertia operations to input signal, wherein time constant used in operation is 1 rank inertia time
Constant.The available output signal of operation each time, and using this output signal as the input signal of operation next time,
Therefore, preset value output signal can be obtained.
Step 103, it averages to preset value output signal, obtains filtering signal, and export；
After obtaining preset value output signal, average to obtained preset value output signal, available filter
Wave signal, and filtering signal is exported.
Step 104, add operation carried out to input signal and filtering signal, and using the result of operation as input signal,
Return step 102.
The filtering signal of output is added with input signal, and the operation result after will add up is returned as input signal
Step 102 continues 1 rank inertia operation, is continuously obtained filtering signal, as required integrated signal.
Integrated signal extracting method provided by the embodiment of the present application by by low-pass filtering time constant divided by preset value,
Obtain 1 rank inertia time constant；1 rank inertia operation of preset value time is carried out to input signal according to 1 rank inertia time constant, is obtained
Preset value output signal；Average, obtain filtering signal and export to preset value output signal, then by filtering signal with
Input signal carries out add operation, and operation result is returned to 1 rank inertia operation and is integrated to persistently export filtering signal
Signal.Compared with the existing technology, novel integrator energy applied by integrated signal extracting method provided by the embodiment of the present application
Enough effectively improve the low-frequency gain of controller；In terms of phase-frequency characteristic: the intermediate-frequency gain of the embodiment of the present application is lower, and showing can
Effectively improve frequency domain phase stability margin；In terms of the output of process: the embodiment of the present invention has output more higher than regular integral device
Speed shows the performance that can effectively improve tracking steady-state deviation.
In order to make it easy to understand, second embodiment provided herein, wherein preset value is specially 10, referring to Fig. 2,
Fig. 2 is the method flow diagram of integrated signal extracting method second embodiment in the embodiment of the present application, is specifically included:
Step 201, low-pass filtering time constant is obtained；
It is understood that if the offer time constant filter of filter is unknown, in the integral for carrying out the application
Before signal extraction, need first to obtain low-pass filtering time constant.
Step 202, low-pass filtering time constant is obtained into 1 rank inertia time constant divided by 10；
For example, the low-pass filtering time constant of filter is 200s (second), 1 rank inertia time needed for the embodiment of the present application
Constant is 20s.
The idiographic flow schematic diagram of step 203, step 204 and step 205 is referring to FIG. 3, Fig. 3 is in the embodiment of the present application
Operation flow diagram when preset value is 10 in integrated signal extracting method.
Step 203,10 1 rank inertia operations are carried out to input signal according to 1 rank inertia time constant, obtains 10 outputs
Signal；
It is understood that this step specifically:
1 rank inertia operation is carried out to input signal, obtains the 1st output signal；
1 rank inertia operation is carried out to the 1st output signal, obtains the 2nd output signal；
1 rank inertia operation is carried out to the 2nd output signal, obtains the 3rd output signal；
1 rank inertia operation is carried out to the 3rd output signal, obtains the 4th output signal；
1 rank inertia operation is carried out to the 4th output signal, obtains the 5th output signal；
1 rank inertia operation is carried out to the 5th output signal, obtains the 6th output signal；
1 rank inertia operation is carried out to the 6th output signal, obtains the 7th output signal；
1 rank inertia operation is carried out to the 7th output signal, obtains the 8th output signal；
1 rank inertia operation is carried out to the 8th output signal, obtains the 9th output signal；
1 rank inertia operation is carried out to the 9th output signal, obtains the 10th output signal.
When preset value is according to requiring to be set as 8,12,16 equivalent times, above-mentioned 1 rank inertia operation can be carried out.
Step 204, it averages to 10 output signals, obtains filtering signal, and export.
It is understood that this step specifically:
By the 1st output signal, the 2nd output signal, the 3rd output signal, the 4th output signal, the 5th output signal, the 6th output
Signal, the 7th output signal, the 8th output signal, the 9th output signal, the 10th output signal are added, and obtain the 11st output signal；And
Scale operation is carried out to the 11st output signal, and exporting is the 12nd output signal.Wherein, the gain of scale operation is 0.1.
That is, to the 1st output signal, the 2nd output signal, the 3rd output signal, the 4th output signal, the 5th output signal, the 6th
Output signal, the 7th output signal, the 8th output signal, the 9th output signal, the 10th output signal are averaged.
Step 205, add operation carried out to input signal and filtering signal, and using the result of operation as input signal,
Return step 203.
Step 104 in this step and first embodiment is consistent, and details are not described herein again.
The preset value of integrated signal extracting mode provided by the embodiment of the present application is 10, defeated with the raising of preset value
The speed for tracking input out tends to be saturated, and therefore, sees that it is preferably to choose that preset value, which is 10, according to experiment and application of engineering project
Numerical value.
In the embodiment of the present application, the mode for obtaining filtering signal is inertia combination filtering mode provided by the present application, right
The expression formula for the inertia combination filter (Inertial combination filter, ICF) answered are as follows:
In formula, WICF(s) transmission function for being ICF；TICFFor low-pass filtering time constant, unit s；N is integer order, i.e.,
Preset value, unit dimensionless；WICF(j ω) is the frequency-domain function of ICF；GICF(ω) is the amplitude-frequency gain of ICF, unit dimensionless；
PHICF(ω) is the phase frequency phase of ICF, unit °；ω is sinusoidal frequency, unit rad/s.
ICF has typical low-pass filtering (Low pass filter, LPF) characteristic.Wherein, single order in the prior art
Digital filter device (First order inertial filter, FOIF) is the special form of the ICF provided herein of n=1
Formula.
FOIF expression formula are as follows:
In formula, WFOIF(s) transmission function for being FOIF；TFOIFFor inertia time constant, unit s；WFOIF(j ω) is FOIF
Frequency-domain function；GFOIF(ω) is the amplitude-frequency gain of FOIF, unit dimensionless；PHFOIF(ω) is the phase frequency phase of FOIF, single
Position °.
Set TICF=200s, the experimental result obtained when taking n=1, n=3, n=10 respectively is referring to Fig. 4, Fig. 4 is this
The filtering characteristic of the corresponding filter of inertia combination filtering mode and filter in the prior art provided by applying, which compares, to be illustrated
Figure.
N is bigger, and the speed of ICF output tracking input is also faster.But with the raising of n, the speed of output tracking input
Tend to be saturated, in terms of application of engineering project, takes n=10 enough.
In PID, integral (Integration, I) control plays the role of a kind of elimination steady-state deviation but routine
Integration control there is a problem of track steady-state deviation it is inefficient, when constructing a kind of positive feedback environment with FOIF, can obtain
To conventional integrator, referring to Fig. 5, the signal that Fig. 5 is regular integral device transmits schematic diagram.
The expression formula of I are as follows:
In formula, WI(s) transmission function for being I；TIFor integration time constant, unit s.In quantity, TI=TFOIF。
Novel integrator (the New of integrated signal extracting method application provided herein is constructed using ICF
Integration, NI), referring to Fig. 6, Fig. 6 is that integrated signal extracting mode provided by the embodiment of the present application is corresponding novel
The signal of integrator transmits schematic diagram.
The expression formula of NI are as follows:
TNI=TICF
In formula, WNI(s) transmission function for being NI；TNIFor the integration time constant of ND, unit s；In quantity, TNI=TICF。
Use YS-NI(t) and YS-I(t) the output of process that expression NI and I is inputted in unit step respectively, in n=10, TNI=TI
=200s, obtained experimental result is referring to FIG. 7, Fig. 7 is that integrated signal acquisition methods provided herein are corresponding novel
The output characteristics contrast schematic diagram of integrator and common integral device.As seen from the figure, NI has delivery efficiency more higher than I.
The frequency-domain function expression formula of NI are as follows:
In formula, WNI(j ω) is the frequency-domain function of NI.The case where for n=10, as ω → 0, the gain of NI is the 1.818 of I
Times；When the gain of ω → ∞, NI are identical as I.
Work as n=10, TNI=TI=200s obtains the amplitude-frequency gain and phase frequency phase characteristic of NI and I, please refers to Fig. 8 and figure
9, Fig. 8 is special for the amplitude-frequency gain of the corresponding novel integrator of integrated signal acquisition methods and common integral device provided herein
Property contrast schematic diagram, Fig. 9 be the corresponding novel integrator of integrated signal acquisition methods and common integral device provided herein
Phase frequency phase characteristic contrast schematic diagram.GI(ω) and GNI(ω) uses logarithm dB unit, from the point of view of frequency domain, improves control
The low-frequency gain of device includes improving the given performance of the output of process tracking process to have for the steady-state performance for improving control process
Positive effect.GI(ω) and GNI(ω) determines the low-frequency gain of controller in the characteristic of low frequency, wherein in ω < 0.01rad/s
When, GNI(ω) is higher by GI(ω) 5.2dB, i.e., 1.818, the low-frequency gain of controller can be effectively improved by showing NI.
The application second aspect provides a kind of integrated signal extraction element.
Referring to FIG. 10, Figure 10 is the structural schematic diagram of integrated signal extraction element provided by the embodiment of the present application, packet
It includes: conversion module 301, computing module 302, output module 303, loop module 304.
Conversion module 301, for low-pass filtering time constant divided by preset value, to be obtained 1 rank inertia time constant；
Computing module 302, for carrying out 1 rank inertia operation of preset value time to input signal according to 1 rank inertia time constant,
Obtain preset value output signal；
Output module 303 obtains filtering signal, and export for averaging to preset value output signal；
Loop module 304, for carrying out add operation to input signal and filtering signal, and using the result of operation as defeated
Enter signal, returns to computing module 302.
Further, further include obtaining module 305:
Module 305 is obtained, for obtaining low-pass filtering time constant.
The application third aspect provides a kind of integrated signal extract equipment, including processor and memory:
Program code is transferred to processor for storing program code by memory；
Processor is extracted for the integrated signal according to provided by instruction execution the application first aspect in program code
Method.
The application fourth aspect provides a kind of computer readable storage medium, and computer readable storage medium is for storing
Program code, program code is for executing integrated signal extracting method provided by the application first aspect.
The 5th aspect of the application provides a kind of computer program product including instruction, when it runs on computers
When, so that computer executes integrated signal extracting method provided by the application first aspect.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The description of the present application and term " first " in above-mentioned attached drawing, " second ", " third ", " the 4th " etc. are (if deposited
) it is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that use in this way
Data are interchangeable under appropriate circumstances, so that embodiments herein described herein for example can be in addition to illustrating herein
Or the sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (full name in English: Read-Only
Memory, english abbreviation: ROM), random access memory (full name in English: Random Access Memory, english abbreviation:
RAM), the various media that can store program code such as magnetic or disk.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of integrated signal extracting method, which is characterized in that comprising steps of
S1: by low-pass filtering time constant divided by preset value, 1 rank inertia time constant is obtained；
S2: 1 rank inertia operation of preset value time is carried out to input signal according to 1 rank inertia time constant, obtains preset value output
Signal；
S3: averaging to preset value output signal, obtains filtering signal, and export；
S4: add operation is carried out to input signal and filtering signal, and using the result of operation as input signal, return step
S2。
2. integrated signal extracting method according to claim 1, which is characterized in that
The preset value is specially 10.
3. integrated signal extracting method according to claim 1, which is characterized in that
It is described by low-pass filtering time constant divided by preset value, before obtaining 1 rank inertia time constant, further includes:
Obtain low-pass filtering time constant.
4. a kind of integrated signal extraction element characterized by comprising conversion module, computing module, output module, cyclic module
Block；
The conversion module, for low-pass filtering time constant divided by preset value, to be obtained 1 rank inertia time constant；
The computing module is obtained for carrying out 1 rank inertia operation of preset value time to input signal according to 1 rank inertia time constant
To preset value output signal；
The output module obtains filtering signal, and export for averaging to preset value output signal；
The loop module, for carrying out add operation to input signal and filtering signal, and using the result of operation as input
Signal returns to computing module.
5. integrated signal extraction element according to claim 4, which is characterized in that further include obtaining module；
The acquisition module, for obtaining low-pass filtering time constant.
6. a kind of integrated signal extract equipment, which is characterized in that the equipment includes processor and memory:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used to be believed according to the integral as described in any one of claims 1-3 of the instruction execution in said program code
Number extracting method.
7. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium is for storing program generation
Code, said program code is for executing integrated signal extracting method as described in any one of claims 1-3.
8. a kind of computer program product including instruction, which is characterized in that when run on a computer, so that the meter
Calculation machine executes integrated signal extracting method as described in any one of claims 1-3.
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| CN113296411A (en) * | 2021-05-26 | 2021-08-24 | 广东电网有限责任公司 | Method and system for tracking high-frequency noise power gain adjustment control strategy parameters |
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