CN109375896B - Similar integration method and device - Google Patents
Similar integration method and device Download PDFInfo
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- CN109375896B CN109375896B CN201811269708.1A CN201811269708A CN109375896B CN 109375896 B CN109375896 B CN 109375896B CN 201811269708 A CN201811269708 A CN 201811269708A CN 109375896 B CN109375896 B CN 109375896B
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Abstract
The application discloses a similar integration method and a similar integration device, wherein the method comprises the steps of 101, adding a process signal of a current step length and a similar integration output signal of a previous step length to obtain an addition signal of the current step length; 102. performing sliding window filtering on the addition signal of the current step length to obtain a similar integral output signal of the current step length; 103. and after the similar integral output signal of the current step is taken as the similar integral output signal of the previous step, returning to the step 101 to calculate the similar integral output signal of the next step. When carrying out the integral operation in this application, adopt the sliding window filter to replace the first order inertial filter who uses when constructing conventional integrator for output speed and output efficiency during the calculation all have obvious promotion, and then have improved the efficiency of tracking input constant disturbance.
Description
Technical Field
The application belongs to the technical field of process control, and particularly relates to a similar integral method and device.
Background
The PID (process integration differentiation) control technology is a preferred basic control technology in the field of industrial process control, but it does not mean that PID control can well meet the actual control requirements, and this is really an inexpedient choice because there is no better choice. For a long time, people have been exploring ways to find ways to override PID control in a comprehensive manner. Unfortunately, to date, any method that attempts to challenge the underlying control position of the PID has not achieved advantage. For a long time, the PID control is difficult to be comprehensively surpassed, and the root is that an invisible serious defect exists in the PID, namely the problem that the constant disturbance efficiency of the conventional integral (I) control tracking input is not high exists in the PID.
Disclosure of Invention
The application provides a similar integral method and a similar integral device, which are used for replacing conventional integral control in PID, can effectively improve the efficiency of tracking input constant disturbance, and achieve the purpose of improving PID control performance.
In view of the above, the first aspect of the present application provides a similar integration method, including:
101. adding the process signal of the current step length and the similar integral output signal of the previous step length to obtain an addition signal of the current step length;
102. performing sliding window filtering on the addition signal of the current step length to obtain a similar integral output signal of the current step length;
103. and after the similar integral output signal of the current step is taken as the similar integral output signal of the previous step, the step 101 is returned to calculate the similar integral output signal of the next step.
Preferably, step 102 specifically includes:
adding the current step size according to
Obtaining a similar integral output signal of the current step length after carrying out sliding window filtering
Wherein, W SWF (s) is the transfer function of the sliding window filter; t is a unit of W Is the window time length in units of s, Y ADD (t) is the addition signal of the current step size, Y ADD (t-dt) is the addition signal of the previous step, Y SI (t) is the integrated-like output signal for the current step size, and s is the laplacian.
Preferably, step 101 specifically includes:
the process signal of the current step and the similar integral output signal of the last step are based on Y ADD (t)＝Y P (t)+Y SI (t-dt) performing addition operation to obtain an addition signal of the current step length;
wherein Y is P (t) Process Signal for the current step size, Y SI (t-dt) is the similarly integrated output signal of the previous step, Y ADD And (t) is the addition signal of the current step size.
A second aspect of the present application provides a similar integration apparatus comprising: an adder and a sliding window filter;
a first input terminal of the adder serves as an input terminal of the process signal;
the output end of the adder is connected with the input end of the sliding window filter;
the output end of the sliding window filter is used as the output end of the similar integral device;
and the output end of the sliding window filter is connected with the second input end of the adder.
Preferably, the transfer function of the sliding window filter is specifically:
the output expression of the similar integration device is specifically as follows:
wherein, W SWF (s) is the transfer function of the sliding window filter; t is a unit of W Is the window time length in units of s, Y ADD (t) is the addition signal of the current step size, Y ADD (t-dt) is the addition signal of the previous step, Y SI (t) is the similar integral output signal for the current step size, and s is the laplacian operator.
Preferably, the expression of the adder is specifically:
Y ADD (t)＝Y P (t)+Y SI (t-dt)；
wherein, Y P (t) is the process signal for the current step size, Y SI (t-dt) is the similarly integrated output signal of the previous step, Y ADD And (t) is the addition signal of the current step size.
According to the technical scheme, the embodiment of the application has the following advantages:
the present application provides a similar integration method: 101. adding the process signal of the current step length and the similar integral output signal of the previous step length to obtain an addition signal of the current step length; 102. performing sliding window filtering on the addition signal of the current step length to obtain a similar integral output signal of the current step length; 103. and after the similar integral output signal of the current step is taken as the similar integral output signal of the previous step, the step 101 is returned to calculate the similar integral output signal of the next step. Since the conventional integral (I) control in the PID control is a Constant Disturbance Observer (CDO), the conventional integral observer (I) control plays a role in eliminating the steady-state deviation and determines the given performance of the process output tracking process. When carrying out the integral operation in this application, adopt the sliding window filter to replace the first order inertial filter who uses when constructing conventional integrator for output speed and output efficiency when calculating all have obvious promotion, and then have improved the efficiency of tracking input constant disturbance.
Drawings
FIG. 1 is a schematic diagram of a conventional integrator in a conventional PID control;
FIG. 2 is a schematic flow chart diagram illustrating an embodiment of a similar integration method in an embodiment of the present application;
FIG. 3 is a schematic diagram of a similar integration device in an embodiment of the present application;
FIG. 4 is a diagram illustrating an integration result of a similar integration method in an embodiment of the present application.
Detailed Description
A conventional integrator in the existing PID control is shown in fig. 1, and a first-order inertia filter is used in the conventional integrator, but the first-order inertia filter has the problems of slow output speed and low output efficiency.
The embodiment of the application provides a similar integral method and a similar integral device, which are used for replacing conventional integral control in PID (proportion integration differentiation), can effectively improve the efficiency of tracking input constant disturbance, and achieve the purpose of improving PID control performance.
In order to make those skilled in the art better understand the technical solutions of the present application, 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 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.
Referring to fig. 2, a schematic flow chart of an embodiment of a similar integration method in the embodiment of the present application includes:
and step 101, adding the process signal of the current step length and the similar integral output signal of the previous step length to obtain an addition signal of the current step length.
It should be noted that, when performing addition, first, a process signal of a current step and a similar integration output signal of a previous step are required to perform addition, so as to obtain an addition signal of the current step. It will be appreciated that, herein, according to Y ADD (t)＝Y P (t)+Y SI (t-dt) performing an addition operation, wherein Y P (t) is the process signal for the current step size, Y SI (t-dt) is the similarly integrated output signal of the previous step, Y ADD And (t) is the addition signal of the current step size.
And 102, performing sliding window filtering on the addition signal of the current step length to obtain a similar integral output signal of the current step length.
It should be noted that, after obtaining the addition signal of the current step size, the addition signal of the current step size is based on
Obtaining a similar integral output signal of the current step length after carrying out sliding window filtering
Wherein, W SWF (s) is the transfer function of the sliding window filter; t is W Is the window time length in units of s, Y ADD (t) is the addition signal of the current step size, Y ADD (t-dt) is the addition signal of the previous step, Y SI (t) is the integrated-like output signal for the current step size, and s is the laplacian.
It will be appreciated that T is the same integration time constant as shown in FIG. 4 W ＝T I ＝400s(T I Is the integration time constant of a conventional integrator in units of s. ) Input process signalIs 1 at this time according to
Compared with an integrated signal obtained by a conventional integrator, the similar integrated output signal subjected to sliding window filtering is more stable in output and higher in efficiency.
And 103, after the similar integral output signal of the current step is taken as the similar integral output signal of the previous step, the step 101 is returned to calculate the similar integral output signal of the next step.
It should be noted that, after obtaining the similar integral output signal of the current step, the integral output signal of the current step is taken as the similar integral output signal of the previous step, and the step 101 is returned to calculate the similar integral output signal of the next step.
In this embodiment, since the conventional integral (I) control in the PID control is a Constant Disturbance Observer (CDO), the CDO determines the given performance of the process output tracking process while eliminating the steady-state deviation. When carrying out the integral operation in this application, adopt the sliding window filter to replace the first order inertial filter who uses when constructing conventional integrator for output speed and output efficiency when calculating all have obvious promotion, and then have improved the efficiency of tracking input constant disturbance.
The above is an embodiment of a similar integration method provided in the present application, and the following is an embodiment of a similar integration device provided in the present application, please refer to fig. 3.
An integration-like device provided in an embodiment of the present application includes: adder 1 and sliding window filter 2, the first input of adder 1 is as the input of process signal, the output of adder 1 and the input of sliding window filter 2 are connected, the output of sliding window filter 2 is as the output of similar integral device, the output of sliding window filter 2 and the second input of adder 1 are connected.
It should be noted that the transfer function of the sliding window filter 2 is specifically:
the output expression of the similar integration device is specifically as follows:
wherein, W SWF (s) is the transfer function of the sliding window filter 2; t is W Is the window time length in units of s, Y ADD (t) is the addition signal of the current step size, Y ADD (t-dt) is the addition signal of the previous step, Y SI (t) is the similar integral output signal for the current step size, and s is the laplacian operator.
Meanwhile, it should be noted that the expression of the adder 1 is specifically as follows:
Y ADD (t)＝Y P (t)+Y SI (t-dt)；
wherein, Y P (t) is the process signal for the current step size, Y SI (t-dt) is the similarly integrated output signal of the previous step, Y ADD (t) is the addition signal for the current step size.
In this embodiment, since the conventional integral (I) control in the PID control is a Constant Disturbance Observer (CDO), the CDO determines the given performance of the process output tracking process while eliminating the steady-state deviation. When carrying out the integral operation in this application, adopt sliding window filter 2 to replace the first order inertial filter who uses when constructing conventional integrator for output speed and output efficiency when calculating all have obvious promotion, and then have improved the efficiency of tracking input constant disturbance.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit 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 of the embodiments of the present application.
Claims (2)
1. A similar integration method, comprising:
101. adding the process signal of the current step length and the similar integral output signal of the previous step length to obtain an addition signal of the current step length, which specifically comprises the following steps:
the process signal of the current step and the similarly integrated output signal of the previous step are based on Y ADD (t)＝Y P (t)+Y SI (t-dt) carrying out addition operation to obtain an addition signal of the current step length;
wherein, Y P (t) is the process signal for the current step size, Y SI (t-dt) is the similarly integrated output signal of the previous step, Y ADD (t) is the addition signal of the current step size;
102. performing sliding window filtering on the addition signal of the current step length to obtain a similar integral output signal of the current step length, which specifically comprises:
adding the current step size according to
Obtaining a similar integral output signal of the current step length after carrying out sliding window filtering
Wherein, W SWF (s) is the transfer function of the sliding window filter; t is W Is the window time length in units of s, Y ADD (t) is the addition signal of the current step size, Y ADD (t-dt) is the addition signal of the previous step, Y SI (t) is the similar integral output signal of the current step length, s is the Laplace operator;
103. and after the similar integral output signal of the current step is taken as the similar integral output signal of the previous step, returning to the step 101 to calculate the similar integral output signal of the next step.
2. A similar integrating device, comprising: an adder and a sliding window filter;
a first input terminal of the adder serves as an input terminal of the process signal; the expression of the adder is specifically as follows:
Y ADD (t)＝Y P (t)+Y SI (t-dt)；
wherein, Y P (t) is the process signal for the current step size, Y SI (t-dt) is the similarly integrated output signal of the previous step, Y ADD (t) is the addition signal of the current step size;
the output end of the adder is connected with the input end of the sliding window filter; the transfer function of the sliding window filter is specifically as follows:
the output expression of the similar integration device is specifically as follows:
wherein, W SWF (s) is the transfer function of the sliding window filter; t is W Is the window time length in units of s, Y ADD (t) is the addition signal of the current step size, Y ADD (t-dt) is the addition signal of the previous step, Y SI (t) is the similar integral output signal of the current step length, s is the Laplace operator;
the output end of the sliding window filter is used as the output end of the similar integral device;
and the output end of the sliding window filter is connected with the second input end of the adder.
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| CN101339405A (en) * | 2008-08-13 | 2009-01-07 | 哈尔滨工程大学 | Digital PID control method |
| EP3136267A1 (en) * | 2015-08-25 | 2017-03-01 | Volvo Car Corporation | Method and system for control and co-simulation of physical systems |
| WO2017082143A1 (en) * | 2015-11-09 | 2017-05-18 | 株式会社明電舎 | Dynamometer-system dynamo control device and engine starting method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101339405A (en) * | 2008-08-13 | 2009-01-07 | 哈尔滨工程大学 | Digital PID control method |
| EP3136267A1 (en) * | 2015-08-25 | 2017-03-01 | Volvo Car Corporation | Method and system for control and co-simulation of physical systems |
| WO2017082143A1 (en) * | 2015-11-09 | 2017-05-18 | 株式会社明電舎 | Dynamometer-system dynamo control device and engine starting method therefor |
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