CN109460006A - A kind of method of control system oscillation test - Google Patents
A kind of method of control system oscillation test Download PDFInfo
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- CN109460006A CN109460006A CN201811326384.0A CN201811326384A CN109460006A CN 109460006 A CN109460006 A CN 109460006A CN 201811326384 A CN201811326384 A CN 201811326384A CN 109460006 A CN109460006 A CN 109460006A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
A kind of method of control system oscillation test, comprising the following steps: S1, the crucial website setting oscillation-detecting device that may be vibrated in the controls；S2, voltage and current detecting device, and the wireless signal transmission being connected with the voltage and current detecting device and the oscillation-detecting device are set on the route being connected with the crucial website；S3, oscillation test is carried out to the critical station point with the oscillation-detecting device, the three-phase current and three-phase voltage for the route being connected with the voltage and current detecting device pair with the crucial website are acquired in real time, and real-time oscillation data, three-phase current data and the three-phase voltage data that will test are recorded.The present invention effectively overcomes the problems, such as that threshold value is not achieved in setting value and the deviation of live actual value.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular, to a kind of method of control system oscillation test.
Background technique
Automatic regulating system, i.e., most commonly used at present is classical PID regulating system, and can stablize in initial operation stage can
The work leaned on, but due to the variation of controlled device characteristic, the maintenance of system or equipment is short of, accidental significantly external disturbance
The reasons such as factor, it is likely that will cause that control system work is abnormal, and system stability margin reduces, or even technical process ginseng occur
Count existing oscillation.The abnormal state of these control systems may make technological parameter be unsatisfactory for the demand of technique, cause product
Quality decline；Control equipment itself may also be damaged.It is unfavorable for the safe and stable operation of system.
Traditional solution is cut to manually after the PV value deviation of setting value and scene is more than a threshold value.It is this to cut
Manual mode considers that itself deviation of some setting values in special circumstances and PV value just compares since judgment mode is single again
It is larger, it should not cut at this time manually, therefore the threshold value for being normally set up the deviation of value and live actual value is bigger, is controlling in this way
Circuit processed vibrates, and especially delays biggish controlled device pure, often shows low frequency self-sustained oscillation, but deviation is not
When reaching threshold value, system will not be cut manually so that oscillation can be long lasting for.
Summary of the invention
The object of the invention is that the shortcomings that overcoming the above-mentioned prior art and deficiency, provide a kind of control system oscillation inspection
The method of survey, this method are delaying biggish controlled device pure for electric system, are often showing low frequency self-sustained oscillation, but
When being that deviation is not up to threshold value, system will not cut manually so that oscillation can long lasting for the case where；Using extraction setting value
It is sampled with the deviation of live value, sampled signal is grouped according to frequency, calculates separately different frequency band at one section
Between energy side and and the ratio between the energy of nearby frequency bands, be according to the threshold decision system of nearby frequency bands energy ratio respectively
No oscillation effectively overcomes the problems, such as that threshold value is not achieved in setting value and the deviation of live actual value.
Technical solution used by the present invention solves the above problems is:
A kind of method of control system oscillation test, comprising the following steps:
S1, the crucial website setting oscillation-detecting device that may be vibrated in the controls；
S2, voltage and current detecting device is set on the route being connected with the crucial website, and with the voltage
The wireless signal transmission that current detection means is connected with the oscillation-detecting device；
S3, oscillation test is carried out to the critical station point with the oscillation-detecting device, with the voltage and current detecting device
The three-phase current and three-phase voltage of the route being connected with the crucial website are acquired in real time, and will test real-time
Oscillation data, three-phase current data and three-phase voltage data are recorded；
Real-time oscillation data three-phase current data and three-phase voltage data are sent to system by S4, wireless signal transmission
Inspection center；
Wherein, the step of oscillation-detecting device progress oscillation test includes:
S101, the deviation for extracting setting value and live actual value in control system are sampled；
S102, sampled signal is grouped processing according to the height of frequency；
S103, calculate separately different frequency band a period of time energy side and and side frequency band energy it is equal
Side and the ratio between；
S104, respectively according to side frequency with energy side and the ratio between threshold value judge whether system vibrates.
Further, the concussion detection device include multi-frequency oscillation monitoring device, low frequency self-sustained oscillation monitoring device, from
It is a variety of to swash one of coupled oscillations monitoring device or PMU phasor measurement unit.
Further, the oscillation-detecting device and the voltage and current detecting device are while starting, and remember when starting
Record starting time t1, duration of oscillation are indicated with t2, then start time t1 and concussion time t2 also by the wireless signal transmission
Device is sent to system detection center.
Further, in step s 102, the specific steps of use are grouped are as follows: first sampled signal according to the height of frequency
It is grouped, then sampled signal is carried out the mode of high pass, low pass and band logical respectively and be filtered.
Further, it is electrical to be sent to target when the data at system detection center include band for the wireless signal transmission
Instantaneous value and virtual value, the electrical quantity component amplitude and phase of several characteristic frequencies, starting time t1 and concussion time t2 are measured, with
And the real-time oscillation data of control system.
To sum up, the beneficial effects of the present invention are:
The present invention is sampled using the deviation for extracting setting value and live value, is divided according to frequency sampled signal
Group, calculate separately different frequency band a period of time energy side and and the ratio between the energy of nearby frequency bands, respectively according to phase
Whether adjacent frequency vibrates with the threshold decision system of energy ratio, effectively overcomes setting value and the deviation of live actual value that door is not achieved
The problem of limit value.
Detailed description of the invention
Fig. 1 is filter logic control schematic diagram in the embodiment of the present invention 1.
Fig. 2 is the logical operation schematic diagram of step S103 of the invention.
Fig. 3 is the schematic diagram of original signal and frequency packet signal in the embodiment of the present invention 2.
Fig. 4 be the present invention after detecting oscillation to the simple process schematic diagram of control system.
Specific embodiment
In order to solve to delay biggish controlled device pure for electric system in the prior art, low frequency etc. is often showed
Width oscillation, but when deviation is not up to threshold value, system will not cut manually so that oscillation can long lasting for the case where, the present invention
It is sampled using the deviation for extracting setting value and live value, sampled signal is grouped according to frequency, calculates separately difference
Frequency band a period of time energy side and and the ratio between the energy of nearby frequency bands, respectively according to nearby frequency bands energy ratio
Whether threshold decision system vibrates, and effectively overcomes the problems, such as that threshold value is not achieved in setting value and the deviation of live actual value.Under
Detailed description further is made in conjunction with the embodiments and attached drawing, to the present invention in face, and embodiments of the present invention are not limited thereto, figure
In an only example applying of the present invention, there is no essential constraint to the principle of the present invention.
Embodiment 1:
Such as Fig. 1 and Fig. 2, a kind of method of control system oscillation test；
A kind of method of control system oscillation test, comprising the following steps:
S1, the crucial website setting oscillation-detecting device that may be vibrated in the controls；
S2, voltage and current detecting device is set on the route being connected with the crucial website, and with the voltage
The wireless signal transmission that current detection means is connected with the oscillation-detecting device；
S3, oscillation test is carried out to the critical station point with the oscillation-detecting device, with the voltage and current detecting device
The three-phase current and three-phase voltage of the route being connected with the crucial website are acquired in real time, and will test real-time
Oscillation data, three-phase current data and three-phase voltage data are recorded；
Real-time oscillation data three-phase current data and three-phase voltage data are sent to system by S4, wireless signal transmission
Inspection center；
Wherein, the step of oscillation-detecting device progress oscillation test includes:
S101, the deviation for extracting setting value and live actual value in control system are sampled；
S102, sampled signal is grouped processing according to the height of frequency；
S103, calculate separately different frequency band a period of time energy side and and side frequency band energy it is equal
Side and the ratio between；
S104, respectively according to side frequency with energy side and the ratio between threshold value judge whether system vibrates.
Further, the concussion detection device include multi-frequency oscillation monitoring device, low frequency self-sustained oscillation monitoring device, from
It is a variety of to swash one of coupled oscillations monitoring device or PMU phasor measurement unit.
Further, the oscillation-detecting device and the voltage and current detecting device are while starting, and remember when starting
Record starting time t1, duration of oscillation are indicated with t2, then start time t1 and concussion time t2 also by the wireless signal transmission
Device is sent to system detection center.
Further, in step s 102, the specific steps of use are grouped are as follows: first sampled signal according to the height of frequency
It is grouped, then sampled signal is carried out the mode of high pass, low pass and band logical respectively and be filtered；Filtering algorithm please refers to maturation
Filtering mode, such as Chebyshev filter, Butterworth filter etc..The order of filter is higher, and filter effect is better,
But corresponding calculation amount is also bigger；About the relevant configuration of low-pass filter and high-pass filter, need according to controlled device
Response speed carries out analysis determination.
Further, it is electrical to be sent to target when the data at system detection center include band for the wireless signal transmission
Instantaneous value and virtual value, the electrical quantity component amplitude and phase of several characteristic frequencies, starting time t1 and concussion time t2 are measured, with
And the real-time oscillation data of control system.
Embodiment 2:
On the basis of above-described embodiment 1, as shown in Figure 3 and Figure 4,
A kind of method of control system oscillation test, comprising the following steps:
S1, the crucial website setting oscillation-detecting device that may be vibrated in the controls；
S2, voltage and current detecting device is set on the route being connected with the crucial website, and with the voltage
The wireless signal transmission that current detection means is connected with the oscillation-detecting device；
S3, oscillation test is carried out to the critical station point with the oscillation-detecting device, with the voltage and current detecting device
The three-phase current and three-phase voltage of the route being connected with the crucial website are acquired in real time, and will test real-time
Oscillation data, three-phase current data and three-phase voltage data are recorded；
Real-time oscillation data three-phase current data and three-phase voltage data are sent to system by S4, wireless signal transmission
Inspection center；
Wherein, the step of oscillation-detecting device progress oscillation test includes: the first step, acquires original signal such as Fig. 1
Shown in first group of signal, this signal itself is the deviation of setting value and actual value；
This signal is divided into 5 groups according to frequency by second step, if the half of the frequency of sampling is Fa, then divides five groups of frequency
Rate range is respectively [0, Fa/16], [Fa/16,2*Fa/16], [2*Fa/16,4*Fa/16], [4*Fa/16,8*Fa/16], [8*
Fa/16, inf], first filter is low-pass filter, and cutoff frequency Fa/16, the last one is high-pass filter, is cut
Only frequency is 8*Fa/16, remaining is bandpass filter；For example, by using Butterworth filter, then its low-pass filter
Normalized transfer function are as follows:
Wherein ΩcFor cutoff frequency Fa/16, skThe relevant parameter designed for filter.Remaining bandpass filter and high pass
Filter class is seemingly；
The data being grouped according to frequency are as shown in figure 1 shown in the data of each frequency band；
Third step calculates separately the ratio between energy (side and) and energy of nearby frequency bands of each frequency band；
4th step judges whether system vibrates according to threshold value respectively.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (5)
1. a kind of method of control system oscillation test, which comprises the following steps:
S1, the crucial website setting oscillation-detecting device that may be vibrated in the controls；
S2, voltage and current detecting device is set on the route being connected with the crucial website, and with the voltage and current
The wireless signal transmission that detection device is connected with the oscillation-detecting device；
S3, oscillation test is carried out to the critical station point with the oscillation-detecting device, with the voltage and current detecting device pair with
The real-time oscillation that the three-phase current and three-phase voltage of the connected route of the crucial website are acquired in real time, and will test
Data, three-phase current data and three-phase voltage data are recorded；
Real-time oscillation data three-phase current data and three-phase voltage data are sent to system detection by S4, wireless signal transmission
Center；
Wherein, the step of oscillation-detecting device progress oscillation test includes:
S101, the deviation for extracting setting value and live actual value in control system are sampled；
S102, sampled signal is grouped processing according to the height of frequency；
S103, calculate separately different frequency band a period of time energy side and and side frequency band energy side and
The ratio between；
S104, respectively according to side frequency with energy side and the ratio between threshold value judge whether system vibrates.
2. a kind of method of control system oscillation test according to claim 1, which is characterized in that the concussion detection dress
It sets including multi-frequency oscillation monitoring device, low frequency self-sustained oscillation monitoring device, self-excitation coupled oscillations monitoring device or PMU phasor measurement
One of unit is a variety of.
3. a kind of method of control system oscillation test according to claim 1, which is characterized in that the oscillation test dress
Record starting time t1, duration of oscillation are indicated with t2 when setting and be with the voltage and current detecting device while starting, and starting, then
Starting time t1 and concussion time t2 is sent to system detection center also by the wireless signal transmission.
4. a kind of method of control system oscillation test according to claim 1, which is characterized in that in step s 102,
It is grouped the specific steps used are as follows: sampled signal is grouped according to the height of frequency first, then sampled signal is carried out respectively
The mode of high pass, low pass and band logical is filtered.
5. a kind of method of control system oscillation test according to claim 1, which is characterized in that the wireless signal passes
Defeated device is sent to target electrical quantity instantaneous value and virtual value when the data at system detection center include band, several characteristic frequencies
Electrical quantity component amplitude and phase, starting time t1 and the real-time oscillation data for shaking time t2 and control system.
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| CN201811326384.0A CN109460006B (en) | 2018-11-08 | 2018-11-08 | Method for detecting oscillation of control system |
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| CN201811326384.0A CN109460006B (en) | 2018-11-08 | 2018-11-08 | Method for detecting oscillation of control system |
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Cited By (1)
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| CN109940622A (en) * | 2019-04-28 | 2019-06-28 | 西安交通大学 | It is a kind of based on the robot arm of current of electric without sensing collision checking method |
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Effective date of registration: 20200409 Address after: 610000 No.1, floor 1, unit 1, building 24, No.24, Qinghua Road, Qingyang District, Chengdu City, Sichuan Province Applicant after: State Grid Sichuan comprehensive energy service Co., Ltd. Sichuan Electric Power Engineering Branch Address before: 610000 power dispatching building, Renmin South Road, Chengdu, Sichuan, Jinjiang District Applicant before: SICHUAN ELECTRIC POWER INDUSTRY ADJUSTMENT & TEST INSTITUTE |
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