CN109270836B - Integral signal extraction method, device and equipment - Google Patents
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Abstract
The embodiment of the application discloses an integrated signal extraction method, a device, equipment and a computer readable storage medium, wherein the method comprises the following steps: s1: dividing the low-pass filtering time constant by a preset value to obtain a 1-order inertia time constant; s2: performing preset 1-order inertia operation on the input signal according to the 1-order inertia time constant to obtain preset output signals; s3: averaging preset output signals to obtain filtering signals and outputting the filtering signals; s4: the input signal and the filter signal are added, and the result of the addition is returned to step S2 as the input signal. Compared with the prior art, the integral signal extraction method provided by the application effectively improves the efficiency of tracking steady-state deviation in integral control, and is easy for engineering application.
Description
Technical Field
The present application relates to the field of automatic control technologies, and in particular, to a method, an apparatus, and a device for extracting an integral signal.
Background
The PID (process integration differentiation) control technology has wide application in the field of process control, and the PID is mainly suitable for some constant value control systems, i.e. the process is given constantly. In some follow-up control systems, the process set-up needs vary frequently, and the characteristics of the follow-up control substantially expose the disadvantages of PID control, such as poor performance of the process output tracking process set-up.
In order to solve the disadvantages of the PID control, some new knowledge of the PID control is required. From an observation point of view, the proportional (P) control in PID is a kind of current disturbance observer (NDO), and plays a role of eliminating current disturbance. Integration (I) control is a Constant Disturbance Observer (CDO) that acts to eliminate steady state deviations. Differential (D) control is an Advanced Disturbance Observer (ADO). The effect of eliminating disturbance in advance is achieved. Integral control, while eliminating steady state deviations, determines to a large extent the performance given by the process output tracking process.
In PID, conventional integral control has a problem of low efficiency in tracking a steady-state deviation.
Disclosure of Invention
The embodiment of the application provides an integral signal extraction method, device and equipment, which effectively improve the efficiency of tracking steady-state deviation in integral control and are easy for engineering application.
In view of this, the first aspect of the present application provides an integrated signal extraction method, including:
s1: dividing the low-pass filtering time constant by a preset value to obtain a 1-order inertia time constant;
s2: performing preset 1-order inertia operation on the input signal according to the 1-order inertia time constant to obtain preset output signals;
s3: averaging preset output signals to obtain filtering signals and outputting the filtering signals;
s4: the input signal and the filter signal are added, and the result of the addition is returned to step S2 as the input signal.
Alternatively,
the preset value is specifically 10.
Alternatively,
before the step of dividing the low-pass filtering time constant by the preset value to obtain the 1 st order inertia time constant, the method further comprises the following steps:
a low pass filter time constant is obtained.
A second aspect of the present application provides an integrated signal extraction apparatus, including: the device comprises a conversion module, an operation module, an output module and a circulation module;
the conversion module is used for dividing the low-pass filtering time constant by a preset value to obtain a 1-order inertia time constant;
the operation module is used for performing preset 1-order inertia operation on the input signal according to the 1-order inertia time constant to obtain preset output signals;
the output module is used for averaging preset output signals to obtain filtering signals and outputting the filtering signals;
and the circulating module is used for carrying out addition operation on the input signal and the filtering signal, taking an operation result as the input signal and returning the operation result to the operation module.
Optionally, the system further comprises an obtaining module;
the acquisition module is used for acquiring a low-pass filtering time constant.
A third aspect of the present application provides an integrated signal extraction device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the integrated signal extraction method according to the first aspect as described above according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the integrated signal extraction method according to the first aspect.
A fifth aspect of the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of integrated signal extraction as described in the first aspect above.
According to the technical scheme, the embodiment of the application has the following advantages:
in the embodiment of the application, an integral signal extraction method and device are provided, wherein a 1-order inertia time constant is obtained by dividing a low-pass filtering time constant by a preset value; performing preset 1-order inertia operation on the input signal according to the 1-order inertia time constant to obtain preset output signals; averaging the preset output signals to obtain a filtering signal and outputting the filtering signal, then adding the filtering signal and the input signal, and returning the operation result to 1-order inertia operation, thereby continuously outputting the filtering signal, namely an integral signal. Compared with the prior art, the novel integrator applied by the integral signal extraction method provided by the embodiment of the application can effectively improve the low-frequency gain of the controller; from the phase-frequency characteristics: the intermediate frequency gain of the embodiment of the application is lower, which shows that the phase stability margin of the frequency domain can be effectively improved; from the process output: the embodiment of the invention has higher output speed than the conventional integrator, and shows that the performance of tracking steady-state deviation can be effectively improved.
Drawings
Fig. 1 is a flowchart of a method of a first embodiment of an integrated signal extraction method according to an embodiment of the present application;
FIG. 2 is a flowchart of a second embodiment of an integrated signal extraction method according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating an operation flow when a preset value is 10 in the integrated signal extraction method according to the embodiment of the present application;
fig. 4 is a schematic diagram illustrating a comparison between the filtering characteristics of a filter corresponding to the inertial combination filtering method provided in the present application and a filter in the prior art;
FIG. 5 is a signal transmission diagram of a conventional integrator;
fig. 6 is a schematic signal transmission diagram of a novel integrator corresponding to an integrated signal extraction method provided in the embodiment of the present application;
fig. 7 is a schematic diagram illustrating comparison of output characteristics of a novel integrator and a conventional integrator corresponding to the integrated signal acquisition method provided by the present application;
fig. 8 is a schematic diagram illustrating comparison of amplitude-frequency gain characteristics of a novel integrator and a conventional integrator corresponding to the integrated signal acquisition method provided by the present application;
fig. 9 is a schematic diagram illustrating a comparison between phase-frequency and phase characteristics of a novel integrator and a conventional integrator corresponding to the integrated signal acquisition method provided by the present application;
fig. 10 is a schematic structural diagram of an integrated signal extracting apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The application designs an integral signal extraction method, which effectively improves the efficiency of tracking steady-state deviation in integral control and is easy for engineering application.
The following is a first embodiment of the integrated signal extraction method provided by the present application. Referring to fig. 1, fig. 1 is a flowchart of a method of a first embodiment of an integrated signal extraction method in the embodiment of the present application, which specifically includes:
it can be understood that the filter has a fixed low-pass filtering time constant, and the method provided by the present application first needs to divide the time constant by a preset value to obtain the 1 st order inertia time constant required by the present application, and the preset value can be selected according to the requirement.
102, performing preset 1-order inertia operation on an input signal according to a 1-order inertia time constant to obtain preset output signals;
and performing 1-order inertia operation on the input signal by using the obtained 1-order inertia time constant, wherein the number of times of performing 1-order inertia operation is obtained by dividing the low-pass filtering time constant by a preset value. For example, the low pass filter time constant is divided by 16, and then 16 times 1 order inertia operations are performed on the input signal, wherein the time constant used for the operations is 1 order inertia time constant. Each operation can obtain an output signal, and the output signal is used as an input signal of the next operation, so that preset output signals can be obtained.
103, averaging preset output signals to obtain filtering signals and outputting the filtering signals;
after the preset number of output signals are obtained, averaging the obtained preset number of output signals to obtain a filtered signal, and outputting the filtered signal.
And adding the output filtering signal and the input signal, taking the added operation result as the input signal, returning to the step 102 to continue the 1-order inertia operation, and continuously obtaining the filtering signal, namely the required integral signal.
According to the integral signal extraction method provided by the embodiment of the application, the 1-order inertia time constant is obtained by dividing the low-pass filtering time constant by the preset value; performing preset 1-order inertia operation on the input signal according to the 1-order inertia time constant to obtain preset output signals; averaging the preset output signals to obtain a filtering signal and outputting the filtering signal, then adding the filtering signal and the input signal, and returning the operation result to 1-order inertia operation, thereby continuously outputting the filtering signal, namely an integral signal. Compared with the prior art, the novel integrator applied by the integral signal extraction method provided by the embodiment of the application can effectively improve the low-frequency gain of the controller; from the phase-frequency characteristics: the intermediate frequency gain of the embodiment of the application is lower, which shows that the phase stability margin of the frequency domain can be effectively improved; from the process output: the embodiment of the invention has higher output speed than the conventional integrator, and shows that the performance of tracking steady-state deviation can be effectively improved.
For convenience of understanding, the present application provides a second embodiment, wherein the preset value is specifically 10, please refer to fig. 2, and fig. 2 is a flowchart of a method of a second embodiment of an integrated signal extracting method in the present application, which specifically includes:
it will be appreciated that if the filter's provided filter time constant is unknown, then a low pass filter time constant needs to be obtained prior to performing the integral signal extraction of the present application.
for example, the low-pass filter time constant of the filter is 200s (seconds), and the 1 st order inertia time constant required by the embodiment of the present application is 20 s.
Please refer to fig. 3 for a detailed flowchart of step 203, step 204, and step 205, and fig. 3 is a flowchart illustrating an operation when the preset value is 10 in the integrated signal extracting method according to the embodiment of the present application.
it can be understood that this step is specifically:
carrying out 1-order inertia operation on the input signal to obtain a 1 st output signal;
performing 1-order inertia operation on the 1 st output signal to obtain a 2 nd output signal;
performing 1-order inertia operation on the 2 nd output signal to obtain a 3 rd output signal;
performing 1-order inertia operation on the 3 rd output signal to obtain a 4 th output signal;
performing 1-order inertia operation on the 4 th output signal to obtain a 5 th output signal;
performing 1-order inertia operation on the 5 th output signal to obtain a 6 th output signal;
performing 1-order inertia operation on the 6 th output signal to obtain a 7 th output signal;
performing 1-order inertia operation on the 7 th output signal to obtain an 8 th output signal;
performing 1-order inertia operation on the 8 th output signal to obtain a 9 th output signal;
and performing 1-order inertia operation on the 9 th output signal to obtain a 10 th output signal.
When the preset values are set to be equal to 8, 12 and 16 according to requirements, the 1-order inertia operation can be carried out.
And step 204, averaging the 10 output signals to obtain a filtering signal and outputting the filtering signal.
It can be understood that this step is specifically:
adding the 1 st output signal, the 2 nd output signal, the 3 rd output signal, the 4 th output signal, the 5 th output signal, the 6 th output signal, the 7 th output signal, the 8 th output signal, the 9 th output signal and the 10 th output signal to obtain an 11 th output signal; and the 11 th output signal is subjected to a proportional operation and output as a 12 th output signal. Wherein the gain of the proportional operation is 0.1.
That is, the 1 st output signal, the 2 nd output signal, the 3 rd output signal, the 4 th output signal, the 5 th output signal, the 6 th output signal, the 7 th output signal, the 8 th output signal, the 9 th output signal, and the 10 th output signal are averaged.
Step 205 adds the input signal and the filtered signal, and returns the result of the addition to step 203 as the input signal.
This step is identical to step 104 in the first embodiment, and is not described here again.
The preset value of the integral signal extraction mode provided by the embodiment of the application is 10, and the output tracking input speed tends to be saturated along with the improvement of the preset value, so that the preset value of 10 is an optimal selected value from the view points of experiments and engineering application.
In the embodiment of the present application, the manner of obtaining the filtering signal is an inertia combination filtering manner provided by the present application, and an expression of an Inertia Combination Filter (ICF) corresponding to the inertia combination filtering manner is:
in the formula, WICF(s) is the transfer function of the ICF; t isICFIs the low pass filter time constant, in units of s; n is an integer order, namely a preset value, and the unit is dimensionless; wICF(j ω) is the frequency domain function of the ICF; gICF(omega) is the amplitude-frequency gain of the ICF, and the unit is dimensionless; PH valueICF(ω) is the phase frequency phase of the ICF in degrees; omega is the sine frequency in rad/s.
The ICF has typical Low Pass Filter (LPF) characteristics. Among them, the First Order Inertial Filter (FOIF) in the prior art is a special form of the ICF provided in this application, where n is 1.
The FOIF expression is:
in the formula, WFOIF(s) isA transfer function of FOIF; t isFOIFIs the inertial time constant, in units of s; wFOIF(j ω) is the frequency domain function of FOIF; gFOIF(omega) is the amplitude-frequency gain of FOIF, and the unit is dimensionless; PH valueFOIFAnd (omega) is the phase frequency and phase of the FOIF in degrees.
Setting TICFReferring to fig. 4, fig. 4 is a schematic diagram illustrating a filter characteristic comparison between a filter corresponding to the inertia combination filtering method provided in the present application and a filter in the prior art, where n is 1, n is 3, and n is 10.
The larger n, the faster the ICF output tracks the input. However, as n increases, the speed of the output tracking input tends to saturate, and it is sufficient to take n to 10 from the engineering application point of view.
However, the conventional integral control has a problem of low efficiency of tracking the steady-state deviation, and when a positive feedback environment is constructed by using the FOIF, a conventional integrator can be obtained, please refer to fig. 5, and fig. 5 is a signal transmission diagram of the conventional integrator.
The expression of I is:
in the formula, WI(s) a transfer function for I; t isIIs the integration time constant, in units of s. In number, TI＝TFOIF。
Fig. 6 is a schematic diagram of signal transmission of a novel integrator (New Integration, NI) applied in the method for extracting an integrated signal provided by the present application, where fig. 6 is a schematic diagram of a novel integrator corresponding to the method for extracting an integrated signal provided by the present application.
The expression for NI is:
TNI＝TICF
in the formula, WNI(s) is the transfer function of NI; t isNIIs the integration time constant for ND in units of s; in number, TNI＝TICF。
By YS-NI(t) and YS-I(T) expresses the process outputs of NI and I at unit step input, respectively, where n is 10, TNI＝TIPlease refer to fig. 7 for 200s of the obtained experimental result, and fig. 7 is a schematic diagram illustrating comparison of output characteristics of the novel integrator and the conventional integrator corresponding to the integrated signal obtaining method provided in the present application. As can be seen, NI has higher output efficiency than I.
The frequency domain function expression of NI is:
in the formula, WNI(j ω) is a frequency domain function of NI. For the case of n ═ 10, when ω → 0, the gain of NI is 1.818 times that of I; when ω → ∞, the gain of NI is the same as I.
When n is 10, TNI＝TIReferring to fig. 8 and 9, fig. 8 is a schematic diagram illustrating comparison between amplitude-frequency gain characteristics of a novel integrator and a commonly-used integrator corresponding to the integrated signal acquisition method provided by the present application, and fig. 9 is a schematic diagram illustrating comparison between phase-frequency phase characteristics of a novel integrator and a commonly-used integrator corresponding to the integrated signal acquisition method provided by the present application. GI(omega) and GNIAnd (omega) adopts logarithmic dB units, and from the aspect of frequency domain, the improvement of the low-frequency gain of the controller has positive significance for improving the steady-state performance of the control process, including the given performance of the process output tracking process. GI(omega) and GNI(ω) the characteristic at low frequencies determines the low frequency gain of the controller, where ω is the frequency at which<At 0.01rad/s, GNI(omega) is higher than GI(ω)5.2dB, 1.818, indicating that NI is effective in increasing the low frequency gain of the controller.
A second aspect of the present application provides an integrated signal extraction apparatus.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an integrated signal extracting apparatus according to an embodiment of the present application, including: a conversion module 301, an operation module 302, an output module 303 and a circulation module 304.
The conversion module 301 is configured to divide the low-pass filtering time constant by a preset value to obtain a 1-order inertia time constant;
the operation module 302 is configured to perform preset-order 1-order inertial operation on the input signal according to the 1-order inertial time constant to obtain preset-number output signals;
an output module 303, configured to average preset output signals to obtain a filtered signal, and output the filtered signal;
and a loop module 304, configured to perform an addition operation on the input signal and the filtered signal, and return the operation result to the operation module 302 as the input signal.
Further, the method further includes the obtaining module 305:
an obtaining module 305, configured to obtain a low-pass filtering time constant.
A third aspect of the present application provides an integrated signal extraction device, including a processor and a memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the method for extracting an integrated signal provided in the first aspect of the present application according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the integrated signal extraction method provided by the first aspect of the present application.
A fifth aspect of the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of integrated signal extraction as provided in the first aspect of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 in the embodiments of the present application.
Claims (8)
1. An integrated signal extraction method, characterized by comprising the steps of:
s1: dividing the low-pass filtering time constant by a preset value to obtain a 1-order inertia time constant;
s2: performing preset value secondary 1-order inertia operation on an input signal according to a 1-order inertia time constant to obtain preset value output signals, wherein the input signal is an input signal controlled by PID;
s3: averaging preset output signals to obtain filtering signals and outputting the filtering signals, wherein the output signals are integrated signals and output;
s4: the input signal and the filter signal are added, and the result of the addition is returned to step S2 as the input signal.
2. The integrated signal extraction method according to claim 1,
the preset value is specifically 10.
3. The integrated signal extraction method according to claim 1,
before the step of dividing the low-pass filtering time constant by the preset value to obtain the 1 st order inertia time constant, the method further comprises the following steps:
a low pass filter time constant is obtained.
4. An integrated signal extraction device, comprising: the device comprises a conversion module, an operation module, an output module and a circulation module;
the conversion module is used for dividing the low-pass filtering time constant by a preset value to obtain a 1-order inertia time constant;
the operation module is used for performing preset 1-order inertia operation on an input signal according to a 1-order inertia time constant to obtain preset output signals, wherein the input signal is an input signal controlled by PID;
the output module is used for averaging preset output signals to obtain filtering signals and outputting the filtering signals, and the output signals are output as integral signals;
and the circulating module is used for carrying out addition operation on the input signal and the filtering signal, taking an operation result as the input signal and returning the operation result to the operation module.
5. The integrated signal extraction device according to claim 4, further comprising an acquisition module;
the acquisition module is used for acquiring a low-pass filtering time constant.
6. An integrated signal extraction device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method of extracting an integrated signal according to any one of claims 1-3 according to instructions in the program code.
7. A computer-readable storage medium characterized in that the computer-readable storage medium stores a program code for executing the integrated signal extraction method according to any one of claims 1 to 3.
8. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the integrated signal extraction method of any one of claims 1 to 3.
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| CN105912043A (en) * | 2016-06-12 | 2016-08-31 | 南昌大学 | Flutter-signal double-closed-loop adaptive proportional valve amplifier algorithm |
| CN108732924B (en) * | 2018-08-21 | 2021-03-12 | 广东电网有限责任公司 | Advanced cascade control method and device |
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