CN109932898A - A kind of adjustable look-ahead device - Google Patents
A kind of adjustable look-ahead device Download PDFInfo
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- CN109932898A CN109932898A CN201910250015.6A CN201910250015A CN109932898A CN 109932898 A CN109932898 A CN 109932898A CN 201910250015 A CN201910250015 A CN 201910250015A CN 109932898 A CN109932898 A CN 109932898A
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Abstract
This application discloses a kind of adjustable look-ahead devices, comprising: subtrator, high-gain proportional-plus-integral controller, inertia combination filter, one order inertia filter, the first proportional unit, the second proportional unit and addition unit.Adjustable look-ahead device disclosed in the present application, the efficiency for solving existing low order observer is lower, that is, leading phase peak value is lower, the lower technical problem of the ratio of leading phase peak value and gain peak.
Description
Technical field
This application involves automatic control technology field more particularly to a kind of adjustable look-ahead devices.
Background technique
It is capable of the Advanced information of acquisition process response with look-ahead, there is important meaning for improving process control performance
Justice.Form that there are many look-aheads, such as differentiator, inertia inversion model (Inertial inverse model, SOIIM), ratio
Example-differential (Proportion-Differentiation, PD) controller etc..
It is controlling in practice, is being primarily present lag, inertia lag and the purely retarded of two kinds of property.Current look-ahead master
If for inertia lag, such as the look-ahead for inertia lag may be implemented in inertia inversion model.It is controlling in practice,
Higher-order inertia link process is generally existing.In the ideal case, Higher-order inertia link inversion model can observe Higher-order inertia link process
Input.Since there are deviations between theoretical and reality, the engineering significance of Higher-order inertia link inversion model is little, such as exists and be difficult to handle
Noise jamming scale-up problem.In engineering, the order of inertia inversion model mostly uses depression of order to see no more than two ranks, therefore actually
Survey device, abbreviation low order observer, substantially and a kind of model reduction.
But the efficiency of low order observer is lower, that is, leading phase peak value (Leading phase peak value,
LPPV) lower, the ratio of leading phase peak value and gain peak (Gain peak value, GPV) are lower.
Summary of the invention
This application provides a kind of adjustable look-ahead devices, and the efficiency for solving existing low order observer is lower,
Namely leading phase peak value is lower, the lower technical problem of the ratio of leading phase peak value and gain peak.
In view of this, the application first aspect provides a kind of adjustable look-ahead device, comprising: subtrator, height
Gain scale-integral controller, inertia combination filter, one order inertia filter, the first proportional unit, the second proportional unit with
And addition unit；
The subtrator is subtracted input terminal for accessing input signal；
The output end of the subtrator connects the input terminal of the high-gain proportional-plus-integral controller；
The output end of the high-gain proportional-plus-integral controller connects the input terminal of the inertia combination filter；
What the output end of the inertia combination filter connected the subtrator subtracts output end；
The output end of the high-gain proportional-plus-integral controller connects the input terminal of the one order inertia filter；
The output end of the one order inertia filter connects the input terminal of first proportional unit；
The output end of first proportional unit connects the first input end of the addition unit；
The input terminal of second proportional unit is for accessing the input signal；
The output end of second proportional unit connects the second input terminal of the addition unit；
The output end of the addition unit is used to export the adjustable look-ahead output of the input signal.
Preferably, the expression formula of the inertia combination filter are as follows:
Wherein, ICF (s) is the transmission function of the inertia combination filter, TLOFor the preset look-ahead time, n is
Default order.
Preferably, the expression formula of the high-gain proportional-plus-integral controller are as follows:
Wherein, HGPI (s) is the transmission function of the high-gain proportional-plus-integral controller, KHGPIFor the increasing of preset ratio
Benefit, THGPIFor preset integration time constant.
Preferably, the expression formula of the one order inertia filter are as follows:
Wherein, FOIF (s) is the transmission function of the one order inertia filter, TFOIFFor preset inertia time constant.
Preferably, the sum of proportional gain of first proportional unit and second proportional unit is 1.
Preferably, the THGPIIt takes 1 second, the KHGPI35.25, the n is taken to take 8, the TLOIt takes 20 seconds.
It preferably, further include noise measurement unit；
The noise measurement unit is used for,
When being subtracted input terminal input noise exogenous disturbances signal, it is defeated to acquire the noise jamming in the subtrator
Enter signal, and acquires the noise jamming output signal of the output end output of the addition unit；
According to the collected noise jamming input signal and the noise jamming output signal, calculates noise power and increase
Benefit.
Preferably, described according to the collected noise jamming input signal and the noise jamming output signal, meter
Noise power gain is calculated to specifically include:
According to noise power gain calculation formula, noise power gain is calculated；
The noise power gain calculation formula are as follows:
Wherein, NPG is noise power gain, NOUT(t) it is exported for noise jamming, NINT(t) it is inputted for noise jamming, TNPG
For the time span for calculating noise power gain.
Preferably, the subtrator by subtract input terminal for access input signal be process signal.
As can be seen from the above technical solutions, the application has the following advantages:
In the application, a kind of adjustable look-ahead device is provided, comprising: subtrator, high-gain proportional, integral control
Device, inertia combination filter, one order inertia filter, the first proportional unit, the second proportional unit and addition unit processed；Subtraction
Unit is subtracted input terminal for accessing input signal；The output end connection high-gain proportional-plus-integral controller of subtrator
Input terminal；The input terminal of the output end connection inertia combination filter of high-gain proportional-plus-integral controller；Inertia combination filter
Output end connection subtrator subtract output end；The output end connection one order inertia filtering of high-gain proportional-plus-integral controller
The input terminal of device；The output end of one order inertia filter connects the input terminal of the first proportional unit；The output of first proportional unit
The first input end of end connection addition unit；The input terminal of second proportional unit is for accessing input signal；Second proportional unit
Output end connection addition unit the second input terminal；The output end of addition unit is used to export the adjustable advanced of input signal
It observes defeated.Adjustable look-ahead device provided by the present application has leading phase peak value higher, and leading phase peak value is adjustable
Section, the higher advantage of the ratio of leading phase peak value and gain peak.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of adjustable look-ahead device provided by the present application；
Fig. 2 is the phase characteristic figure of the adjustable look-ahead device in the application application example；
Fig. 3 is the gain characteristic figure of the adjustable look-ahead device in the application application example.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction with the attached drawing in the application,
Technical solution in the application is clearly and completely described, it is clear that described embodiment is only that the application a part is real
Example is applied, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall in the protection scope of this application.
The efficiency of existing low order observer is lower, i.e., its leading phase peak value is lower, leading phase peak value and gain peak
The ratio of value is lower.For this purpose, the application proposes a kind of adjustable look-ahead device, have leading phase peak value higher, in advance
Phase peak is adjustable, the higher advantage of the ratio of leading phase peak value and gain peak.
Specifically, may refer to Fig. 1, Fig. 1 is a kind of structural representation of adjustable look-ahead device provided by the present application
Figure, comprising: subtrator, high-gain proportional-plus-integral controller, inertia combination filter, one order inertia filter, the first ratio
Unit, the second proportional unit and addition unit.
Wherein, the input terminal that subtracted of subtrator is used to access input signal；Input signal can need to carry out to be some
The process signal of look-ahead.The input terminal of the output end connection high-gain proportional-plus-integral controller of subtrator；High-gain
The input terminal of the output end connection inertia combination filter of example-integral controller；The output end connection of inertia combination filter subtracts
Method unit subtracts output end；The input terminal of the output end connection one order inertia filter of high-gain proportional-plus-integral controller；Single order
The output end of digital filter device connects the input terminal of the first proportional unit；The output end connection addition unit of first proportional unit
First input end；The input terminal of second proportional unit is for accessing input signal；The output end of second proportional unit connects addition
Second input terminal of unit；The output end of addition unit is used to export the adjustable look-ahead output of input signal.
Further, the order of inertia combination filter is preset, specific expression formula are as follows:
Wherein, ICF (s) is the transmission function of inertia combination filter, TLOFor the preset look-ahead time, unit is
Second, n is default order, and unit is dimensionless.
The proportional gain and integration time constant of high-gain proportional-plus-integral controller can also be preset, specific
Expression formula are as follows:
Wherein, HGPI (s) is the transmission function of the high-gain proportional-plus-integral controller, KHGPIFor the increasing of preset ratio
Benefit, unit are dimensionless, THGPIFor preset integration time constant, unit is the second.
The inertia time constant of one order inertia filter can be preset, expression formula are as follows:
Wherein, FOIF (s) is the transmission function of the one order inertia filter, TFOIFFor preset inertia time constant,
Unit is the second.
And the first proportional unit, expression formula are as follows:
PA (s)=KA；
PA (s) is the transmission function of the first proportional unit, KAFor preset proportional gain, unit is dimensionless.
Similar, the expression formula of the second proportional unit are as follows:
PB (s)=KB；
PB (s) is the transmission function of the second proportional unit, KBFor preset proportional gain, unit is dimensionless.
Further, the sum of proportional gain of the first proportional unit and the second proportional unit can be equal to 1, with expression formula table
Show as follows:
PA (s)+PB (s)=KA+KB=1.
In view of usually there is noise jamming amplification in look-ahead, therefore to pay close attention to it to noise interferences
Amplification is provided with noise measurement unit.Noise measurement unit is come using noise power gain (Noise power gain, NPG)
Measure the noise jamming amplification characteristic of look-ahead, it is generally recognized that noise power gain is acceptable within 10.
When in subtrator, when being subtracted input terminal input noise exogenous disturbances signal, noise measurement unit can be collected
Noise jamming input signal, and acquire the noise jamming output signal of the output end output of addition unit.
According to collected noise jamming input signal and noise jamming output signal, noise measurement unit can be calculated and be made an uproar
Acoustical power gain calculates noise power gain specifically, can use noise power gain calculation formula.
Noise power gain calculation formula are as follows:
Wherein, NPG is noise power gain, and unit is dimensionless, NOUT(t) it is exported for noise jamming, NINTIt (t) is noise
Exogenous disturbances, NOUT(t) and NINT(t) unit is is determined by the property of input signal, TNPGTo calculate noise power gain
Time span, unit are the second.
This application provides an application examples, in the application example, THGPI1 second is taken, KHGPI35.25, n is taken to take 8, TLO
It takes 20 seconds.And KA0.25,0.5 and 1 has been taken respectively, corresponding, KB0.75,0.5 and 0 has been taken respectively.Calculate noise power gain
Time span TNPGIt takes 2000 seconds.
Available frequency characteristic and performance indicator under the above parameters, specifically as shown in Fig. 2, Fig. 3 and table 1.Fig. 2 is
The phase characteristic figure of adjustable look-ahead device in the application application example, Fig. 3 are adjustable in the application application example
The gain characteristic figure of look-ahead device is saved, table 1 is that the performance of the adjustable look-ahead device in the application application example refers to
Mark.In Fig. 3,20log [GALO(ω)] indicate amplitude-frequency gain, unit dB.In Fig. 2, PHALO(ω) indicates phase frequency phase,
Unit be °, ω is sinusoidal frequency, unit dimensionless.
Table 1
By Fig. 2, Fig. 3 and table 1 as it can be seen that adjustable look-ahead device provided by the present application, sees compared to existing low order
Device is surveyed, has leading phase peak value higher, leading phase peak value is adjustable, and the ratio of leading phase peak value and gain peak is higher
The advantages of.
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.
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 (9)
1. a kind of adjustable look-ahead device characterized by comprising subtrator, high-gain proportional-plus-integral controller,
Inertia combination filter, one order inertia filter, the first proportional unit, the second proportional unit and addition unit；
The subtrator is subtracted input terminal for accessing input signal；
The output end of the subtrator connects the input terminal of the high-gain proportional-plus-integral controller；
The output end of the high-gain proportional-plus-integral controller connects the input terminal of the inertia combination filter；
What the output end of the inertia combination filter connected the subtrator subtracts output end；
The output end of the high-gain proportional-plus-integral controller connects the input terminal of the one order inertia filter；
The output end of the one order inertia filter connects the input terminal of first proportional unit；
The output end of first proportional unit connects the first input end of the addition unit；
The input terminal of second proportional unit is for accessing the input signal；
The output end of second proportional unit connects the second input terminal of the addition unit；
The output end of the addition unit is used to export the adjustable look-ahead output of the input signal.
2. adjustable look-ahead device according to claim 1, which is characterized in that the table of the inertia combination filter
Up to formula are as follows:
Wherein, ICF (s) is the transmission function of the inertia combination filter, TLOFor the preset look-ahead time, n is default
Order.
3. adjustable look-ahead device according to claim 2, which is characterized in that the high-gain proportional, integral control
The expression formula of device processed are as follows:
Wherein, HGPI (s) is the transmission function of the high-gain proportional-plus-integral controller, KHGPIFor preset proportional gain,
THGPIFor preset integration time constant.
4. adjustable look-ahead device according to claim 3, which is characterized in that the table of the one order inertia filter
Up to formula are as follows:
Wherein, FOIF (s) is the transmission function of the one order inertia filter, TFOIFFor preset inertia time constant.
5. adjustable look-ahead device according to claim 4, which is characterized in that first proportional unit with it is described
The sum of proportional gain of second proportional unit is 1.
6. adjustable look-ahead device according to claim 5, which is characterized in that the THGPIIt takes 1 second, the KHGPI
35.25, the n is taken to take 8, the TLOIt takes 20 seconds.
7. adjustable look-ahead device according to claim 1, which is characterized in that further include noise measurement unit；
The noise measurement unit is used for,
Believe when being subtracted input terminal input noise exogenous disturbances signal, acquiring the noise jamming input in the subtrator
Number, and acquire the noise jamming output signal of the output end output of the addition unit；
According to the collected noise jamming input signal and the noise jamming output signal, noise power gain is calculated.
8. adjustable look-ahead device according to claim 7, which is characterized in that described described to be made an uproar according to collected
Acoustic jamming input signal and the noise jamming output signal calculate noise power gain and specifically include:
According to noise power gain calculation formula, noise power gain is calculated；
The noise power gain calculation formula are as follows:
Wherein, NPG is noise power gain, NOUT(t) it is exported for noise jamming, NINT(t) it is inputted for noise jamming, TNPGFor meter
Calculate the time span of noise power gain.
9. adjustable look-ahead device according to claim 1, which is characterized in that the subtrator is subtracted input
End is process signal for the input signal of access.
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| CN113296396A (en) * | 2021-05-26 | 2021-08-24 | 广东电网有限责任公司 | Automatic tracking system and method for high-frequency noise power gain |
| CN113311708A (en) * | 2021-05-26 | 2021-08-27 | 广东电网有限责任公司 | Method and system for tracking high-frequency noise amplitude gain adjustment control strategy parameters |
| CN113325710A (en) * | 2021-05-26 | 2021-08-31 | 广东电网有限责任公司 | Automatic tracking system and method for high-frequency noise amplitude gain |
| CN113311755B (en) * | 2021-05-26 | 2022-05-10 | 广东电网有限责任公司 | Automatic tracking improvement method and system for high-frequency noise amplitude gain |
| CN113311706B (en) * | 2021-05-26 | 2022-05-27 | 广东电网有限责任公司 | Automatic tracking method for high-frequency noise power gain of high-performance advanced observer |
| CN113311699A (en) * | 2021-05-26 | 2021-08-27 | 广东电网有限责任公司 | Automatic tracking method for high-frequency noise amplitude gain of high-performance advanced observer |
| CN113311755A (en) * | 2021-05-26 | 2021-08-27 | 广东电网有限责任公司 | Automatic tracking improvement method and system for high-frequency noise amplitude gain |
| CN113311706A (en) * | 2021-05-26 | 2021-08-27 | 广东电网有限责任公司 | Automatic tracking method for high-frequency noise power gain of high-performance advanced observer |
| CN113189919A (en) * | 2021-05-26 | 2021-07-30 | 广东电网有限责任公司 | Control system and method for high-frequency noise power gain |
| CN113311708B (en) * | 2021-05-26 | 2022-07-12 | 广东电网有限责任公司 | Method and system for tracking high-frequency noise amplitude gain adjustment control strategy parameters |
| CN117452807A (en) * | 2023-12-21 | 2024-01-26 | 中北大学 | Method for processing given signal of process of system and control system |
| CN117452807B (en) * | 2023-12-21 | 2024-04-05 | 中北大学 | Method for processing given signal of process of system and control system |
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