CN109932898B - Adjustable advanced observation device - Google Patents
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Abstract
The application discloses adjustable advanced observation device includes: the device comprises a subtraction unit, a high-gain proportional-integral controller, an inertia combination filter, a first-order inertia filter, a first proportion unit, a second proportion unit and an addition unit. The application discloses adjustable advanced observation device has solved the efficiency of current low order observer and is lower, and the leading phase peak value is lower promptly, and the technical problem that the ratio of leading phase peak value and gain peak value is lower.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to an adjustable advanced observation device.
Background
Advance information of process response can be obtained by applying advanced observation, and the method has important significance for improving the process control performance. The advanced observation can be in various forms, such as a differentiator, an Inertial inverse model (SOIIM), a proportional-differential (PD) controller, and the like.
In control practice, there are mainly two properties of hysteresis, inertial hysteresis and pure hysteresis. The current look-ahead is mainly for inertial lag, e.g. an inertial inverse model can achieve look-ahead for inertial lag. In control practice, higher order inertial processes are prevalent. In the ideal case, the higher order inertial inverse model is able to observe the inputs to the higher order inertial processes. Due to the deviation between theory and reality, the high-order inertia inverse model has little engineering significance, such as the problem of noise interference amplification which is difficult to process. In engineering, the order of the inertial inverse model should not exceed two orders, so a reduced order observer, called a low order observer for short, is actually adopted in most cases, and is also a model reduced order in nature.
However, the low order observer has low efficiency, i.e. low Leading Phase Peak Value (LPPV), and low ratio of Leading phase peak value to Gain Peak Value (GPV).
Disclosure of Invention
The application provides an adjustable advanced observation device, has solved the efficiency of current low order observer and has been lower, and the leading phase peak value is lower promptly, and the technical problem that the ratio of leading phase peak value and gain peak value is lower.
In view of the above, the first aspect of the present application provides an adjustable advanced observation device, including: the device comprises a subtraction unit, a high-gain proportional-integral controller, an inertia combination filter, a first-order inertia filter, a first proportion unit, a second proportion unit and an addition unit;
the subtracted input end of the subtraction unit is used for accessing an input signal;
the output end of the subtraction unit is connected with the input end of the high-gain proportional-integral controller;
the output end of the high-gain proportional-integral controller is connected with the input end of the inertia combination filter;
the output end of the inertia combination filter is connected with the subtracting output end of the subtracting unit;
the output end of the high-gain proportional-integral controller is connected with the input end of the first-order inertia filter;
the output end of the first-order inertia filter is connected with the input end of the first proportional unit;
the output end of the first proportion unit is connected with the first input end of the addition unit;
the input end of the second proportion unit is used for accessing the input signal;
the output end of the second proportion unit is connected with the second input end of the addition unit;
the output end of the addition unit is used for outputting adjustable advanced observation output of the input signal.
Preferably, the expression of the inertial combination filter is:
wherein ICF(s) is the transfer function of the inertial combination filter, T LO Is a preset advanced observation time, and n is a preset order.
Preferably, the expression of the high-gain proportional-integral controller is:
wherein HGPI(s) is the transfer function of the high-gain proportional-integral controller, K HGPI At a predetermined rate gain, T HGPI Is a preset integration time constant.
Preferably, the expression of the first order inertial filter is:
wherein FOIF(s) is a transfer function of the first order inertial filter, T FOIF Is a preset inertia time constant.
Preferably, the sum of the proportional gains of the first proportional unit and the second proportional unit is 1.
Preferably, said T HGPI Take 1 second, said K HGPI Taking 35.25, taking n as 8, and T LO Take 20 seconds.
Preferably, the device further comprises a noise measurement unit;
the noise measurement unit is configured to measure the noise,
when a noise interference input signal is input at the input end to be subtracted of the subtraction unit, acquiring the noise interference input signal, and acquiring a noise interference output signal output by the output end of the addition unit;
and calculating noise power gain according to the collected noise interference input signal and the collected noise interference output signal.
Preferably, the calculating a noise power gain according to the collected noise interference input signal and the collected noise interference output signal specifically includes:
calculating the noise power gain according to a noise power gain calculation formula;
the noise power gain calculation formula is as follows:
wherein NPG is noise power gain, N OUT (t) is the noise interference output, N INT (T) as noise interference input, T NPG To calculate the length of time of the noise power gain.
Preferably, the input signal for the input of the subtracted input of the subtraction unit is a process signal.
According to the technical scheme, the method has the following advantages:
in this application, an adjustable advanced observation device is provided, includes: the device comprises a subtraction unit, a high-gain proportional-integral controller, an inertia combination filter, a first-order inertia filter, a first proportion unit, a second proportion unit and an addition unit; the input end of the subtracting unit is used for accessing an input signal; the output end of the subtraction unit is connected with the input end of the high-gain proportional-integral controller; the output end of the high-gain proportional-integral controller is connected with the input end of the inertia combination filter; the output end of the inertia combination filter is connected with the subtracting output end of the subtracting unit; the output end of the high-gain proportional-integral controller is connected with the input end of the first-order inertia filter; the output end of the first-order inertia filter is connected with the input end of the first proportional unit; the output end of the first proportional unit is connected with the first input end of the addition unit; the input end of the second proportion unit is used for accessing an input signal; the output end of the second proportion unit is connected with the second input end of the addition unit; the output end of the addition unit is used for outputting adjustable advanced observation output of the input signal. The application provides an adjustable advanced observation device, it is higher to have advance phase peak value, and advance phase peak value is adjustable, the higher advantage of ratio of advance phase peak value and gain peak value.
Drawings
Fig. 1 is a schematic structural diagram of an adjustable advanced observation device provided in the present application;
FIG. 2 is a diagram illustrating the phase characteristics of an adjustable look-ahead device in an exemplary application of the present application;
fig. 3 is a gain characteristic diagram of an adjustable advanced observation device in an application example of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions of the present application will be clearly and completely described below with reference to the drawings in 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 embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The existing low-order observer has low efficiency, namely the advance phase peak value is low, and the ratio of the advance phase peak value to the gain peak value is low. Therefore, the adjustable advanced observation device has the advantages that the advanced phase peak value is high, the advanced phase peak value is adjustable, and the ratio of the advanced phase peak value to the gain peak value is high.
Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of an adjustable advanced observation device provided in the present application, including: the device comprises a subtraction unit, a high-gain proportional-integral controller, an inertia combination filter, a first-order inertia filter, a first proportion unit, a second proportion unit and an addition unit.
The input end of the subtracting unit is used for accessing an input signal; the input signal may be some process signal that requires look ahead observation. The output end of the subtraction unit is connected with the input end of the high-gain proportional-integral controller; the output end of the high-gain proportional-integral controller is connected with the input end of the inertia combination filter; the output end of the inertia combination filter is connected with the subtracting output end of the subtracting unit; the output end of the high-gain proportional-integral controller is connected with the input end of the first-order inertia filter; the output end of the first-order inertia filter is connected with the input end of the first proportional unit; the output end of the first proportional unit is connected with the first input end of the addition unit; the input end of the second proportion unit is used for accessing an input signal; the output end of the second proportion unit is connected with the second input end of the addition unit; the output end of the adding unit is used for outputting adjustable advanced observation output of the input signal.
Further, the order of the inertia combination filter is preset, and a specific expression thereof is as follows:
where ICF(s) is the transfer function of the inertial combination filter, T LO The unit is a preset advanced observation time in seconds, and the unit is a preset order in dimensionless.
The ratio gain and the integral time constant of the high-gain proportional-integral controller can also be preset, and the specific expression is as follows:
wherein HGPI(s) is the transfer function of the high-gain proportional-integral controller, K HGPI Is a predetermined ratio gain in dimensionless units, T HGPI Is a preset integration time constant in seconds.
The inertia time constant of the first-order inertia filter can be preset, and the expression is as follows:
wherein FOIF(s) is a transfer function of the first order inertial filter, T FOIF Is a preset inertia time constant and has the unit of second.
And the expression of the first proportion unit is as follows:
PA(s)＝K A ；
PA(s) is the transfer function of the first proportional unit, K A The unit is dimensionless, which is a preset proportional gain.
Similarly, the expression for the second proportional unit is:
PB(s)＝K B ；
PB(s) is a transfer function of the second proportional unit, K B The unit is dimensionless, which is a preset proportional gain.
Further, the sum of the proportional gains of the first proportional unit and the second proportional unit may be equal to 1, and is expressed by the following expression:
PA(s)+PB(s)＝K A +K B ＝1。
considering that the advanced observation usually has the problem of noise interference amplification, a noise measurement unit is provided for focusing on the amplification of the noise interference signal. The Noise Power Gain (NPG) is used by the Noise measurement unit to measure the Noise interference amplification characteristics observed in advance, and is generally considered to be acceptable within 10.
When a noise interference input signal is input at the subtracted input end of the subtraction unit, the noise measurement unit may collect the noise interference input signal and collect the noise interference output signal output by the output end of the addition unit.
According to the collected noise interference input signal and the noise interference output signal, the noise measurement unit can calculate the noise power gain, and specifically, the noise power gain can be calculated by using a noise power gain calculation formula.
The noise power gain calculation formula is as follows:
wherein NPG is noise power gain with dimensionless unit of N OUT (t) is the noise interference output, N INT (t) is the noise interference input, N OUT (t) and N INT The unit of (T) is determined by the nature of the input signal, T NPG The time length for calculating the noise power gain is in seconds.
The application provides an application instance in which T HGPI Take 1 second, K HGPI Taking 35.25, n and 8, T LO Take 20 seconds. And K A Respectively take 0.25, 0.5 and 1, corresponding to, K B 0.75, 0.5 and 0 were taken, respectively. Time to calculate noise power gainLength T NPG Take 2000 seconds.
The frequency characteristics and performance index under the above parameters can be obtained, as shown in fig. 2, fig. 3 and table 1. Fig. 2 is a phase characteristic diagram of the adjustable advanced observation device in the application example of the present application, fig. 3 is a gain characteristic diagram of the adjustable advanced observation device in the application example of the present application, and table 1 is a performance index of the adjustable advanced observation device in the application example of the present application. In FIG. 3, 20log [ 2 ] G ALO (ω)]Represents the amplitude-frequency gain in dB. In FIG. 2, PH ALO And (omega) represents phase frequency and phase, the unit is DEG, omega is sine frequency, and the unit is dimensionless.
TABLE 1
As can be seen from fig. 2, fig. 3 and table 1, compared with the existing low-order observer, the adjustable advanced observation device provided by the present application has the advantages of higher advanced phase peak value, adjustable advanced phase peak value and higher ratio of the advanced phase peak value to the gain peak value.
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.
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 (7)
1. An adjustable advanced observation device, comprising: the device comprises a subtraction unit, a high-gain proportional-integral controller, an inertia combination filter, a first-order inertia filter, a first proportion unit, a second proportion unit, a noise measurement unit and an addition unit;
the input end of the subtracting unit is used for accessing an input signal;
the output end of the subtraction unit is connected with the input end of the high-gain proportional-integral controller;
the output end of the high-gain proportional-integral controller is connected with the input end of the inertia combination filter;
the output end of the inertia combination filter is connected with the subtracting output end of the subtracting unit, and the expression of the inertia combination filter is as follows:
wherein ICF(s) is the transfer function of the inertial combination filter, T LO Is a preset advanced observation time, and n is a preset order;
the output end of the high-gain proportional-integral controller is connected with the input end of the first-order inertia filter;
the output end of the first-order inertia filter is connected with the input end of the first proportional unit;
the output end of the first proportional unit is connected with the first input end of the adding unit;
the input end of the second proportion unit is used for accessing the input signal;
the output end of the second proportion unit is connected with the second input end of the addition unit;
the noise measuring unit is used for collecting the noise interference input signal and collecting the noise interference output signal output by the output end of the adding unit when the noise interference input signal is input at the input end to be subtracted of the subtracting unit; calculating noise power gain according to the collected noise interference input signal and the collected noise interference output signal;
the output end of the addition unit is used for outputting adjustable advanced observation output of the input signal.
2. The adjustable look-ahead apparatus of claim 1, wherein the expression of the high-gain proportional-integral controller is:
wherein HGPI(s) is the transfer function of the high-gain proportional-integral controller, K HGPI At a predetermined rate gain, T HGPI Is a preset integration time constant.
3. The adjustable look-ahead apparatus of claim 2, wherein the first order inertial filter is expressed as:
wherein FOIF(s) is a transfer function of the first order inertial filter, T FOIF Is a preset inertia time constant.
4. The adjustable look-ahead apparatus of claim 3, wherein the sum of the proportional gains of the first proportional unit and the second proportional unit is 1.
5. The adjustable look-ahead apparatus of claim 4, wherein T is HGPI Take 1 second, said K HGPI 35.25 is taken, n is 8, T is LO Take 20 seconds.
6. The adjustable advanced observation device according to claim 1, wherein the calculating a noise power gain according to the collected noise interference input signal and the collected noise interference output signal specifically comprises:
calculating the noise power gain according to a noise power gain calculation formula;
the noise power gain calculation formula is as follows:
where NPG is the noise power gain, N OUT (t) is the noise interference output, N INT (T) is the noise interference input, T NPG To calculate the length of time for the noise power gain.
7. The adjustable look-ahead apparatus of claim 1, wherein the input signal to which the subtracted input of the subtraction unit is coupled is a process signal.
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| CN113156862B (en) * | 2021-04-23 | 2022-06-17 | 广东电网有限责任公司电力科学研究院 | Bit-domain proportional observer and novel basic controller system |
| CN113110032B (en) * | 2021-04-23 | 2022-08-23 | 广东电网有限责任公司电力科学研究院 | Novel high-performance proportional-integral controller and control method and device thereof |
| CN113189965B (en) * | 2021-04-30 | 2022-06-21 | 广东电网有限责任公司电力科学研究院 | Online measurement method and system for noise power gain of novel cascade controller |
| CN113204230B (en) * | 2021-04-30 | 2022-06-28 | 广东电网有限责任公司电力科学研究院 | Online measurement method for high-frequency noise power gain of sliding window tracking differentiator |
| CN113176456B (en) * | 2021-04-30 | 2022-06-03 | 广东电网有限责任公司电力科学研究院 | Online measuring device and method for noise interference level of second-order advanced observer |
| CN113193848B (en) * | 2021-04-30 | 2022-09-30 | 广东电网有限责任公司电力科学研究院 | Online measurement method for improving high-frequency noise power gain of novel basic controller |
| CN113204876B (en) * | 2021-04-30 | 2023-01-20 | 广东电网有限责任公司电力科学研究院 | Noise gain calculation method, device, equipment and medium of PD controller |
| CN113156229B (en) * | 2021-04-30 | 2022-05-27 | 广东电网有限责任公司电力科学研究院 | Online measuring device and method for noise interference level of second-order advanced observer |
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| 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 |
| CN113311699B (en) * | 2021-05-26 | 2022-06-14 | 广东电网有限责任公司 | Automatic tracking method for high-frequency noise amplitude gain of high-performance advanced observer |
| CN113296396B (en) * | 2021-05-26 | 2022-06-03 | 广东电网有限责任公司 | Automatic tracking 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 |
| CN113189919B (en) * | 2021-05-26 | 2022-06-17 | 广东电网有限责任公司 | Control system and method for high-frequency noise power gain |
| 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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