CN112578674A - Excitation signal adjusting method and device of control system and readable storage medium - Google Patents
Excitation signal adjusting method and device of control system and readable storage medium Download PDFInfo
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Abstract
The application discloses an excitation signal adjusting method and device of a control system and a computer readable storage medium. Calculating and monitoring initial difference information of actual output information and standard output information of a control quantity of a control system; generating a nominal excitation signal according to the control quantity and a time constant of a control system; superposing the nominal excitation signal to the control quantity to be used as an excitation control quantity, and calculating excitation difference information of actual output information and standard output information of the excitation control quantity; if the nominal excitation signal is judged to need parameter adjustment based on the change data of the initial difference information and the excitation difference information, the parameter value of the nominal excitation signal is adjusted on line based on the preset step length until the preset interference requirement is met, the excitation signal parameters are adjusted on line in a self-adaptive mode on the basis of not depending on manual operation, the excitation effect can be guaranteed, meanwhile, the change of a system is automatically monitored, and the accuracy and the efficiency of signal excitation modeling are improved.
Description
Technical Field
The present disclosure relates to the field of control technologies, and in particular, to a method and an apparatus for adjusting an excitation signal of a control system, and a computer-readable storage medium.
Background
The system identification technology is a branch of modern control theory, and is based on prior knowledge, and a mathematical model is finally established through the steps of experimental design, structure identification, parameter estimation, model inspection and the like. Wherein, the production process excitation and data collection are collectively called as identification experiment. The purpose of the identification experiment is to stimulate and gather relevant information about the dynamics of the production process and environmental disturbances. In industrial control technology, whether a suitable excitation signal can be applied to a production process is a key factor for successful identification. The model is estimated from the final experiments and the carefully designed excitation signal will have a disturbing effect on the input to the production process, but this effect does not involve the normal operation of the production process. In open loop experiments, the process input and excitation signals were consistent in properties except for the application time being asynchronous. In the closed loop experiment, the input is the superposition of the excitation signal and the feedback control action.
In production process control, the choice of excitation signal depends on two important aspects, the shape or waveform of the excitation signal and the power spectrum of the excitation signal. Common excitation signals include binary pseudo-random sequence PRBS, generalized binary noise GBN, filtered white noise, and superimposed sinusoids. Among them, the effect of the generalized binary noise GBN is the best. In order to obtain data with a high signal-to-noise ratio, it is a conflicting requirement that the excitation signal power be as large as possible, but that the "perturbations" to the production process be as small as possible. In addition, the characteristics of the system change with the changes of the operating state and environment in the production process, the aging of system equipment, the changes of raw material characteristics and the like. These all cause inevitable errors between the mathematical model describing the control system and the actual system. Thus, if the excitation signal maintains a fixed waveform amplitude and power spectrum, the result is: or the characteristics of the model cannot be excited, so that the acquired model is inaccurate; or the "disturbance" is too great, causing the control system to oscillate, compromising the production process. Based on this, the excitation signal needs to be adjusted to adapt to changes in the control system.
In the related art, the excitation signal adaptive system change is usually realized by manually monitoring and manually adjusting the excitation signal parameters. However, the manual monitoring and adjusting method not only needs a lot of manpower, but also the adjusting efficiency and accuracy depend on the professional knowledge of the operator, and in addition, the method is easy to have the disadvantages of manual operation, such as untimely monitoring, error adjusting and the like.
In view of this, how to realize online adaptive adjustment of excitation signal parameters without depending on manual operation so as to keep the parameters consistent with the changes of the control system is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application provides an excitation signal adjusting method and device of a control system and a computer readable storage medium, which can realize online self-adaptive adjustment of excitation signal parameters without depending on manual operation, so that the excitation signal is consistent with the change of the control system, the change of the system can be automatically monitored while the excitation effect is ensured, and the accuracy and the efficiency of signal excitation modeling are improved.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:
an embodiment of the present invention provides an excitation signal adjustment method for a control system, including:
calculating and monitoring initial difference information of actual output information and standard output information of the control quantity of the control system;
generating a nominal excitation signal according to the control quantity and a time constant of the control system;
superposing the nominal excitation signal to the control quantity to be used as an excitation control quantity, and calculating excitation difference information of actual output information and standard output information of the excitation control quantity;
and if the nominal excitation signal is judged to need parameter adjustment based on the change data of the initial difference information and the excitation difference information, adjusting the parameter value of the nominal excitation signal on line based on a preset step length until the preset interference requirement is met.
Optionally, the calculating and monitoring initial difference information between the actual output information of the control quantity of the control system and the standard output information includes:
and calculating the standard deviation and the number of overrun times of each output quantity of the control system in real time in a sliding window.
Optionally, the generating a nominal excitation signal according to the control quantity and a time constant of the control system includes:
and according to the generation principle of the excitation signal type to which the nominal excitation signal belongs, generating the nominal excitation signal by taking a first ratio parameter value of the control quantity as the nominal amplitude of the nominal excitation signal and taking a second ratio parameter value of the time constant as the nominal average conversion time of the nominal excitation signal.
Optionally, the excitation difference information between the actual output information of the controlled variable and the standard output information is an initial standard deviation and an initial number of times of overrun, the excitation difference information between the actual output information of the excitation controlled variable and the standard output information is an excitation standard deviation and an excitation number of times of overrun, and the determining that the nominal excitation signal needs to be subjected to parameter adjustment based on the change data of the initial difference information and the excitation difference information includes:
the excitation overrun times are larger than the initial overrun times, and if the deviation value of the excitation overrun times and the initial overrun times is smaller than or equal to a first deviation value but larger than or equal to a second deviation value, the initial parameters of the nominal excitation signals do not need to be adjusted; the first deviation value is greater than the second deviation value;
if the deviation value of the excitation overrun times and the initial overrun times is larger than a first deviation value or smaller than a second deviation value, the initial parameters of the nominal excitation signals need to be adjusted.
Optionally, the online adjusting the parameter value of the nominal excitation signal based on the preset step length until the preset interference requirement is met includes:
the average conversion time of the nominal excitation signal is fixed, if the deviation value of the excitation standard deviation and the initial standard deviation is larger than the first deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be smaller on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is smaller than or equal to the first deviation value; if the deviation value of the excitation standard deviation and the initial standard deviation is smaller than the second deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be larger on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is larger than or equal to the second deviation value;
the amplitude of the nominal excitation signal is fixed, and if the deviation value of the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input is smaller than the second deviation value, the average conversion time of the nominal excitation signal is adjusted to be larger than or equal to the second deviation value on line on the basis of a preset step length; and if the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input are larger than a third deviation value, the average conversion time of the nominal excitation signal is adjusted to be larger on line on the basis of a preset step length until the average conversion time is smaller than or equal to the third deviation value, and the third deviation value is larger than the first deviation value.
Another aspect of the embodiments of the present invention provides an excitation signal adjusting apparatus for a control system, including:
the initial control quantity data calculation module is used for calculating and monitoring initial difference information between actual output information and standard output information of the control quantity of the control system;
the excitation signal generation module is used for generating a nominal excitation signal according to the control quantity and the time constant of the control system;
the excitation control quantity data calculation module is used for superposing the nominal excitation signal to the control quantity to be used as an excitation control quantity and calculating excitation difference information of actual output information and standard output information of the excitation control quantity;
and the signal parameter adjusting module is used for adjusting the parameter of the nominal excitation signal on line based on a preset step length until the parameter value of the nominal excitation signal meets the preset interference requirement if the change data of the initial difference information and the excitation difference information is used for judging that the nominal excitation signal needs to be subjected to parameter adjustment.
Optionally, the initial control quantity data calculation module is a module that calculates a standard deviation and an overrun number of each output quantity of the control system in real time in a sliding window.
Optionally, the excitation signal generating module is further configured to:
and according to the generation principle of the excitation signal type to which the nominal excitation signal belongs, generating the nominal excitation signal by taking a first ratio parameter value of the control quantity as the nominal amplitude of the nominal excitation signal and taking a second ratio parameter value of the time constant as the nominal average conversion time of the nominal excitation signal.
An embodiment of the present invention further provides an excitation signal adjusting apparatus for a control system, including a processor, where the processor is configured to implement the steps of the excitation signal adjusting method for the control system according to any one of the preceding items when executing a computer program stored in a memory.
Finally, an embodiment of the present invention provides a computer-readable storage medium, where an excitation signal adjustment program of a control system is stored on the computer-readable storage medium, and when the excitation signal adjustment program of the control system is executed by a processor, the method of adjusting an excitation signal of the control system according to any one of the preceding claims is implemented.
The technical scheme provided by the application has the advantages that according to the difference data between the actual output information of the control quantity of the control system and the standard output information, whether the interference of the excitation effect caused by the input excitation signal on the control system meets the requirement is automatically determined according to the change information before and after the input of the excitation signal, and the excitation signal parameter with the interference not meeting the requirement is adjusted, so that the online self-adaptive adjustment of the excitation signal parameter is realized on the basis of not depending on manual operation, the excitation signal and the change of the control system are kept consistent, the change of the system can be automatically monitored while the excitation effect is ensured, and the accuracy and the efficiency of signal excitation modeling are improved.
In addition, the embodiment of the invention also provides a corresponding implementation device and a computer readable storage medium for the excitation signal adjusting method of the control system, so that the method has higher practicability, and the device and the computer readable storage medium have corresponding advantages.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the related art, the drawings required to be used in the description of the embodiments or the related art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of an excitation signal adjusting method of a control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of an exemplary application scenario provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an excitation signal in an illustrative example provided by an embodiment of the invention;
FIG. 4 is a schematic illustration of the effect of amplitude on the control system output in one illustrative example provided by an embodiment of the invention;
FIG. 5 is a schematic illustration of the effect of amplitude on the control system output in another illustrative example provided by an embodiment of the invention;
FIG. 6 is a schematic illustration of the effect of amplitude on the control system output in yet another illustrative example provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating the effect of average transition time on the output of the control system in an illustrative example provided by an embodiment of the invention;
FIG. 8 is a schematic diagram illustrating the effect of average transition time on the output of the control system in another illustrative example provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating the effect of average transition time on the output of the control system in accordance with yet another illustrative example provided by an embodiment of the present invention;
FIG. 10 is a flowchart illustrating an excitation signal adjustment method of another control system according to an embodiment of the present invention;
fig. 11 is a structural diagram of an embodiment of an excitation signal adjusting apparatus of a control system according to an embodiment of the present invention;
fig. 12 is a block diagram of another specific embodiment of an excitation signal adjusting apparatus of a control system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 invention.
The terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may include other steps or elements not expressly listed.
Having described the technical solutions of the embodiments of the present invention, various non-limiting embodiments of the present application are described in detail below.
Referring to fig. 1, fig. 1 is a schematic flow chart of an excitation signal adjusting method of a control system according to an embodiment of the present invention, where the embodiment of the present invention may include the following:
s101: initial difference information of actual output information of a control quantity of the control system and standard output information is calculated and monitored.
The actual output information of the application is output data of the controlled quantity of the control system at the current moment, such as the output quantity of the system, and the standard output information is data which should be output theoretically by the controlled quantity of the control system at the current moment or is data which is expected to be output to ensure efficient and accurate operation of the system. The closer the two are in numerical value, the smaller the difference between the two is, the more accurate the control method of the current control system is proved, and the parameter adjustment is not needed.
S102: and generating a nominal excitation signal according to the control quantity and the time constant of the control system.
The standard excitation signal in this step can be any one of the existing types of excitation signals including, but not limited to, GBN, PRBS, filtered white noise, and superimposed sine waves. The excitation signal can be designed and generated based on the generation principle of the type of excitation signal employed in combination with the control quantities and time constants of the control system.
S103: and superposing the nominal excitation signal to the control quantity to be used as the excitation control quantity, and calculating excitation difference information of actual output information and standard output information of the excitation control quantity.
As shown in fig. 2, the excitation signal generated in S102 is superimposed on the control amount and is input to the system in common as a new control amount, and excitation difference information between the actual output information and the standard output information is calculated on the basis of the new control amount. In order to ensure the accuracy of the subsequent parameter adjustment, the calculation method of excitation difference information in this step is the same as the calculation method of initial excitation difference information in step S101.
S104: and if the nominal excitation signal is judged to need parameter adjustment based on the change data of the initial difference information and the excitation difference information, the parameter value of the nominal excitation signal is adjusted on line based on a preset step length until the preset interference requirement is met.
Compared with S101, the change of the excitation difference information and the initial difference information can reflect the interference of the excitation effect of the whole control system under the influence of the excitation signal to the system, so that whether the parameter of the excitation signal needs to be adjusted can be judged based on the change data of the excitation difference information and the initial difference information, and the interference to the control system can meet the requirement while a certain excitation effect is ensured. The preset step value can be selected according to the actual application scene, and the application does not limit the preset step value at all.
In the technical scheme provided by the embodiment of the invention, according to the difference data between the actual output information of the control quantity of the control system and the standard output information, whether the interference of the excitation effect caused by the input excitation signal on the control system meets the requirement is automatically determined according to the change information before and after the input of the excitation signal, and the excitation signal parameter with the interference not meeting the requirement is adjusted, so that the online self-adaptive adjustment of the excitation signal parameter is realized on the basis of not depending on manual operation, the excitation signal and the change of the control system are kept consistent, the change of the system can be automatically monitored while the excitation effect is ensured, and the accuracy and the efficiency of signal excitation modeling are improved.
In the above embodiment, how to perform steps S101 and S103 is not limited, and the method for calculating the difference information between the actual output information of the control amount and the standard output information in the present embodiment may include the following steps:
for S101, the implementation manner of this step in this embodiment is: and calculating the standard deviation and the number of overrun times of each output quantity of the control system in real time in a sliding window.
For S103, the implementation manner of this step in this embodiment is: and calculating the standard deviation and the number of overrun times of each output quantity of the control system after the excitation signal is input in a sliding window.
In a sliding window, each system output quantity yiThere are N data and are updated according to the sampling period. Calculating the standard deviation std and the overrun times overrun of the output quantity in real time, wherein the standard deviation std can be used for evaluating the degree of deviation of the output quantity from the average value; overrun may be used to assess the history of outputAnd accumulating the number of overrun times.
The standard deviation std can be calculated based on a standard deviation calculation relation, and the standard deviation calculation relation can be expressed as:
the number Num of overrun times can be calculated based on a time calculation relation, which can be expressed as:
in the number of overrun, Δ represents the maximum overrun increase allowed by the controlled amount.
In the above embodiment, how to perform step S102 is not limited, and a method for generating the excitation signal in this embodiment may include the following steps:
according to the generation principle of the excitation signal type of the nominal excitation signal, the nominal excitation signal is generated by taking a first ratio parameter value of a control quantity as the nominal amplitude value of the nominal excitation signal and taking a second ratio parameter value of a time constant as the nominal average conversion time of the nominal excitation signal.
The first ratio and the second ratio can be selected according to actual application scenes, and the implementation of the application is not affected.
In order to make the technical solution of the present application more obvious to those skilled in the art, the present application further uses GBN as an example to describe an implementation of S102, and as shown in fig. 3, the following contents may be included:
the GBN signal u (t) is an experimental signal suitable for control-related identification of industrial processes, which is converted between two values-a and + a, at each predetermined conversion instant t, according to the following rule:
in the formula, pswIs the transition probability. The distribution of events at each transition instant is a parameter pswAre distributed in a staggered manner. Therefore, the mean of GBN is zero. Definition of TswFor the switching time, i.e. the gap time between two switching, the average switching time ETswComprises the following steps:
the power spectrum of the GBN can be expressed as:
according to the above GBN generation principle, a nominal GBN signal is designed with 1% of the system control quantity as the nominal amplitude of the excitation signal and 1/3, which is the system time constant, as the nominal average transition time of the excitation signal, and is superimposed on the control quantity.
The above embodiment does not limit how to perform step S104, and an implementation of whether the excitation signal needs to be adjusted and how to adjust is provided in this embodiment, which may include the following steps:
the excitation difference information between the actual output information of the controlled variable and the standard output information is the initial standard deviation and the initial overrun times, the excitation difference information between the actual output information of the excitation controlled variable and the standard output information is the excitation standard deviation and the excitation overrun times, and the process of "determining that the nominal excitation signal needs to be adjusted based on the variation data of the initial difference information and the excitation difference information" in the step S104 may include:
the number of excitation overrun times is greater than the initial overrun times, and the first deviation value is greater than the second deviation value. If the deviation value of the excitation overrun times and the initial overrun times is smaller than or equal to the first deviation value but larger than or equal to the second deviation value, the initial parameters of the nominal excitation signal do not need to be adjusted. If the deviation value of the excitation overrun times and the initial overrun times is larger than the first deviation value or smaller than the second deviation value, the initial parameters of the nominal excitation signal need to be adjusted.
The deviation value of the excitation overrun times and the initial overrun times can be obtained by calculating the difference value of the excitation overrun times and the initial overrun times, and can also be obtained by calculating the ratio of the excitation overrun times to the initial overrun times, and the realization of the application is not influenced. Similarly, the deviation value of the excitation standard deviation from the initial standard deviation can be obtained by calculating the difference value of the excitation standard deviation and the initial standard deviation, and can also be obtained by calculating the ratio of the excitation standard deviation to the initial standard deviation, which does not affect the implementation of the present application. In this embodiment, if the deviation value between the excitation overrun times and the initial overrun times is greater than the first deviation value, which indicates that the amplitude of the excitation signal is larger or the average conversion time is larger, the amplitude parameter or the average conversion time of the nominal excitation signal may be adjusted to be smaller on line based on the preset step length; if the deviation value of the excitation overrun times and the initial overrun times is smaller than a second deviation value, the amplitude of the excitation signal is smaller or the average conversion time is smaller, and the amplitude parameter or the average conversion time of the nominal excitation signal is adjusted to be larger on line based on the preset step length.
Based on the above embodiment, the implementation of "online adjusting the parameter value of the nominal excitation signal based on the preset step size until the preset interference requirement is met" in step S104 may include:
the average conversion time of the nominal excitation signal is fixed, if the deviation value of the excitation standard deviation and the initial standard deviation is larger than a first deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be small on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is smaller than or equal to the first deviation value; if the deviation value of the excitation standard deviation and the initial standard deviation is smaller than a second deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be larger on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is larger than or equal to the second deviation value;
the amplitude of the nominal excitation signal is fixed, if the deviation value of the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input is smaller than a second deviation value, the average conversion time of the nominal excitation signal is adjusted on line on the basis of a preset step length until the deviation value of the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input is larger than or equal to the second deviation value; if the standard deviation of the system output value power spectrum after the nominal excitation signal is input and the standard deviation of the system output value power spectrum before the nominal excitation signal is input are larger than a third deviation value, the average conversion time of the nominal excitation signal is adjusted on line on the basis of a preset step length until the deviation value of the standard deviation of the system output value power spectrum after the nominal excitation signal is input and the standard deviation of the system output value power spectrum before the nominal excitation signal is input is smaller than or equal to the third deviation value, and the third deviation value is larger than the first deviation value.
In this embodiment, the first deviation value, the second deviation value, and the third deviation value may be selected according to an actual application scenario, and this application does not limit any comparison. In order to make the technical solutions of the present application more clearly understood by those skilled in the art, with reference to fig. 4 to fig. 10, the present application takes GBN as nominal excitation information, and comprehensively judges the parameter adaptation condition of the excitation signal based on the standard deviation and the number of times of overrun, and the included criteria are as follows:
criterion A: after the nominal GBN excitation signal is put into use, if the overrun frequency Na of the system output value is more than 2 times of the overrun frequency Nb of the system output value before the excitation signal is put into use, the amplitude of the excitation signal is larger or the average conversion time is larger; if the number of times of overrun Na of the system output value is less than 1.2 times of the number of times of overrun Nb before the excitation signal is input, it indicates that the amplitude of the excitation signal is smaller or the average conversion time is smaller.
Criterion B1: on the premise that the average conversion time of the excitation signal is fixed, if the standard deviation stda of the system output value after the excitation signal is input is more than 2 times of the standard deviation stdb of the system output value before the excitation signal is input, the amplitude of the excitation signal is larger.
Criterion B2: on the premise that the average conversion time of the excitation signal is fixed, if the standard deviation stda of the system output value after the excitation signal is input is less than 1.2 times of the standard deviation stdb of the system output value before the excitation signal is input, the amplitude of the excitation signal is smaller.
Criterion C1: on the premise that the amplitude of the excitation signal is fixed, if the standard deviation stdpa of the power spectrum of the system output value after the excitation signal is input is less than 1.2 times of the standard deviation stdpb of the power spectrum of the system output value before the excitation signal is input, the average conversion time of the excitation signal is smaller.
Criterion C2: on the premise that the amplitude of the excitation signal is fixed, if the standard deviation stda of the system output value power spectrum after the excitation signal is input is more than 2.5 times of the standard deviation stdb of the system output value power spectrum before the excitation signal is input, the average conversion time of the excitation signal is larger.
The process of judging the excitation signal according to the above criteria may include:
firstly, judging a criterion A, and if the criterion A is established, indicating that the setting of the amplitude or the average conversion time of the excitation signal is not matched with the system;
then, judging that the criterion B comprises B1 and B2, if the criterion B1 is satisfied, indicating that the amplitude of the excitation signal is larger, reducing the amplitude by a fixed delta a, and continuing to judge the criterion B; if the criterion B2 is satisfied, which indicates that the amplitude of the excitation signal is smaller, the amplitude is increased by a fixed delta a, and the criterion B is continuously judged until the amplitude of the excitation signal meets the requirement of the criterion B, and the amplitude adjustment is stopped.
Finally, judging that the criterion C comprises C1 and C2, if the criterion C1 is satisfied, which indicates that the average conversion time of the excitation signal is larger, reducing the average conversion time by a fixed delta Tsw, and continuing to judge the criterion C; if the criterion C2 is satisfied, which indicates that the average conversion time of the excitation signal is smaller, the average conversion time is increased by a fixed delta Tsw, and the criterion C is continuously judged until the average conversion time of the excitation signal meets the requirement of the criterion C, and the adjustment of the average conversion time is stopped.
It should be noted that, in the present application, there is no strict sequential execution order among the steps, and as long as a logical order is met, the steps may be executed simultaneously or according to a certain preset order, and fig. 1 and fig. 10 are only schematic manners, and do not represent only such an execution order.
The embodiment of the invention also provides a corresponding device for the excitation signal adjusting method of the control system, thereby further ensuring that the method has higher practicability. Wherein the means can be described separately from the functional module point of view and the hardware point of view. In the following, the excitation signal adjusting device of the control system according to the embodiment of the present invention is introduced, and the excitation signal adjusting device of the control system described below and the excitation signal adjusting method of the control system described above may be referred to correspondingly.
Referring to fig. 11, based on the angle of the functional module, fig. 11 is a structural diagram of an excitation signal adjusting apparatus of a control system according to an embodiment of the present invention, where the apparatus may include:
and an initial control quantity data calculation module 111, configured to calculate and monitor initial difference information between actual output information of the control quantity of the control system and standard output information.
And an excitation signal generating module 112, configured to generate a nominal excitation signal according to the control quantity and a time constant of the control system.
And an excitation control amount data calculation module 113, configured to superimpose the nominal excitation signal on the control amount as an excitation control amount, and calculate excitation difference information between actual output information of the excitation control amount and standard output information.
And a signal parameter adjusting module 114, configured to, if it is determined that the nominal excitation signal needs to be subjected to parameter adjustment based on the initial difference information and the variation data of the excitation difference information, online adjust a parameter value of the nominal excitation signal based on a preset step length until a preset interference requirement is met.
Optionally, in some embodiments of this embodiment, the initial control quantity data calculating module 111 may be a module that calculates a standard deviation and an overrun number of each output quantity of the control system in real time in a sliding window.
As some other embodiments of this embodiment, the excitation signal generating module 112 may be further configured to:
according to the generation principle of the excitation signal type of the nominal excitation signal, the nominal excitation signal is generated by taking a first ratio parameter value of a control quantity as the nominal amplitude value of the nominal excitation signal and taking a second ratio parameter value of a time constant as the nominal average conversion time of the nominal excitation signal.
Optionally, in some embodiments of this embodiment, the signal parameter adjusting module 114 may include a signal adjustment determining sub-module, where the signal adjustment determining sub-module is configured to:
the excitation difference information of the actual output information of the controlled variable and the standard output information is the initial standard deviation and the initial overrun times, the excitation difference information of the actual output information of the excitation controlled variable and the standard output information is the excitation standard deviation and the excitation overrun times,
if the deviation value of the excitation overrun times and the initial overrun times is smaller than or equal to a first deviation value but larger than or equal to a second deviation value, the initial parameters of the nominal excitation signals do not need to be adjusted;
the first deviation value is greater than the second deviation value; if the deviation value of the excitation overrun times and the initial overrun times is larger than the first deviation value or smaller than the second deviation value, the initial parameters of the nominal excitation signal need to be adjusted.
In other embodiments of this embodiment, the signal parameter adjustment module 114 may include an adjustment submodule, where the adjustment submodule may be configured to:
the average conversion time of the nominal excitation signal is fixed, if the deviation value of the excitation standard deviation and the initial standard deviation is larger than a first deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be small on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is smaller than or equal to the first deviation value; if the deviation value of the excitation standard deviation and the initial standard deviation is smaller than a second deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be larger on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is larger than or equal to the second deviation value;
the amplitude of the nominal excitation signal is fixed, if the deviation value of the standard deviation of the system output value power spectrum after the nominal excitation signal is input and the standard deviation of the system output value power spectrum before the nominal excitation signal is input is smaller than a second deviation value, the average conversion time of the nominal excitation signal is adjusted on line on the basis of a preset step length until the average conversion time is larger than or equal to the second deviation value; if the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input are larger than a third deviation value, the average conversion time of the nominal excitation signal is adjusted on line on the basis of a preset step length until the average conversion time is smaller than or equal to the third deviation value, and the third deviation value is larger than the first deviation value.
The functions of each functional module of the excitation signal adjusting apparatus of the control system according to the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, which is not described herein again.
Therefore, the embodiment of the invention can realize online self-adaptive adjustment of the excitation signal parameters without depending on manual operation, so that the excitation signal is consistent with the change of the control system, the excitation effect is ensured, the change of the system is automatically monitored, and the accuracy and the efficiency of signal excitation modeling are improved.
The above mentioned excitation signal adjusting device of the control system is described from the perspective of the functional module, and further, the present application also provides an excitation signal adjusting device of the control system, which is described from the perspective of hardware. Fig. 12 is a block diagram of an excitation signal adjustment device of another control system according to an embodiment of the present application. As shown in fig. 12, the apparatus includes a memory 120 for storing a computer program;
a processor 121, configured to implement the steps of the excitation signal adjusting method of the control system according to any of the above embodiments when executing the computer program.
The processor 121 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 121 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 121 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 121 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 121 may further include an AI (Artificial Intelligence) processor for processing a calculation operation related to machine learning.
Memory 120 may include one or more computer-readable storage media, which may be non-transitory. Memory 120 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 120 is at least used for storing a computer program 1201, wherein after being loaded and executed by the processor 121, the computer program can implement the relevant steps of the excitation signal adjusting method of the control system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 120 may also include an operating system 1202 and data 1203, etc., which may be stored in a transient or permanent manner. Operating system 1202 may include Windows, Unix, Linux, etc. The data 1203 may include, but is not limited to, data corresponding to the result of the adjustment of the actuation signal by the control system, and the like.
In some embodiments, the excitation signal adjusting device of the control system may further include a display screen 122, an input/output interface 123, a communication interface 124, a power supply 125, and a communication bus 126.
Those skilled in the art will appreciate that the configuration shown in fig. 12 does not constitute a limitation of the activation signal adjustment means of the control system and may include more or fewer components than those shown, such as sensor 127.
The functions of each functional module of the excitation signal adjusting apparatus of the control system according to the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, which is not described herein again.
Therefore, the embodiment of the invention can realize online self-adaptive adjustment of the excitation signal parameters without depending on manual operation, so that the excitation signal is consistent with the change of the control system, the excitation effect is ensured, the change of the system is automatically monitored, and the accuracy and the efficiency of signal excitation modeling are improved.
It is to be understood that, if the excitation signal adjusting method of the control system in the above-described embodiment is implemented in the form of a software functional unit and sold or used as a separate product, it may be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application may be substantially or partially implemented in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the methods of the embodiments of the present application, or all or part of the technical solutions. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), an electrically erasable programmable ROM, a register, a hard disk, a removable magnetic disk, a CD-ROM, a magnetic or optical disk, and other various media capable of storing program codes.
Based on this, the embodiment of the present invention further provides a computer-readable storage medium, in which an excitation signal adjustment program of a control system is stored, and the excitation signal adjustment program of the control system is executed by a processor, and the steps of the excitation signal adjustment method of the control system according to any one of the above embodiments are provided.
The functions of the functional modules of the computer-readable storage medium according to the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, which is not described herein again.
Therefore, the embodiment of the invention can realize online self-adaptive adjustment of the excitation signal parameters without depending on manual operation, so that the excitation signal is consistent with the change of the control system, the excitation effect is ensured, the change of the system is automatically monitored, and the accuracy and the efficiency of signal excitation modeling are improved.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The present application provides a method, an apparatus, and a computer readable storage medium for adjusting an excitation signal of a control system. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. A method of adjusting an excitation signal of a control system, comprising:
calculating and monitoring initial difference information of actual output information and standard output information of the control quantity of the control system;
generating a nominal excitation signal according to the control quantity and a time constant of the control system;
superposing the nominal excitation signal to the control quantity to be used as an excitation control quantity, and calculating excitation difference information of actual output information and standard output information of the excitation control quantity;
and if the nominal excitation signal is judged to need parameter adjustment based on the change data of the initial difference information and the excitation difference information, adjusting the parameter value of the nominal excitation signal on line based on a preset step length until the preset interference requirement is met.
2. The excitation signal adjusting method of the control system according to claim 1, wherein the calculating and monitoring initial difference information of the actual output information of the control amount of the control system and the standard output information includes:
and calculating the standard deviation and the number of overrun times of each output quantity of the control system in real time in a sliding window.
3. The excitation signal adjusting method of the control system according to claim 2, wherein the generating a nominal excitation signal according to the control quantity and a time constant of the control system includes:
and according to the generation principle of the excitation signal type to which the nominal excitation signal belongs, generating the nominal excitation signal by taking a first ratio parameter value of the control quantity as the nominal amplitude of the nominal excitation signal and taking a second ratio parameter value of the time constant as the nominal average conversion time of the nominal excitation signal.
4. The excitation signal adjusting method of the control system according to any one of claims 1 to 3, wherein excitation difference information between the actual output information of the controlled variable and the standard output information is an initial standard deviation and an initial number of times of overrun, and excitation difference information between the actual output information of the excitation controlled variable and the standard output information is an excitation standard deviation and an excitation number of times of overrun, and the determining that the nominal excitation signal needs to be parameter-adjusted based on the variation data of the initial difference information and the excitation difference information includes:
the excitation overrun times are larger than the initial overrun times, and if the deviation value of the excitation overrun times and the initial overrun times is smaller than or equal to a first deviation value but larger than or equal to a second deviation value, the initial parameters of the nominal excitation signals do not need to be adjusted; the first deviation value is greater than the second deviation value;
if the deviation value of the excitation overrun times and the initial overrun times is larger than a first deviation value or smaller than a second deviation value, the initial parameters of the nominal excitation signals need to be adjusted.
5. The excitation signal adjusting method of the control system according to claim 4, wherein the online adjusting the parameter value of the nominal excitation signal based on the preset step size until the preset interference requirement is met comprises:
the average conversion time of the nominal excitation signal is fixed, if the deviation value of the excitation standard deviation and the initial standard deviation is larger than the first deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be smaller on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is smaller than or equal to the first deviation value; if the deviation value of the excitation standard deviation and the initial standard deviation is smaller than the second deviation value, the amplitude parameter of the nominal excitation signal is adjusted to be larger on line based on a preset step length until the deviation value of the excitation standard deviation and the initial standard deviation is larger than or equal to the second deviation value;
the amplitude of the nominal excitation signal is fixed, and if the deviation value of the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input is smaller than the second deviation value, the average conversion time of the nominal excitation signal is adjusted to be larger than or equal to the second deviation value on line on the basis of a preset step length; and if the standard deviation of the power spectrum of the system output value after the nominal excitation signal is input and the standard deviation of the power spectrum of the system output value before the nominal excitation signal is input are larger than a third deviation value, the average conversion time of the nominal excitation signal is adjusted to be larger on line on the basis of a preset step length until the average conversion time is smaller than or equal to the third deviation value, and the third deviation value is larger than the first deviation value.
6. An excitation signal adjusting apparatus of a control system, comprising:
the initial control quantity data calculation module is used for calculating and monitoring initial difference information between actual output information and standard output information of the control quantity of the control system;
the excitation signal generation module is used for generating a nominal excitation signal according to the control quantity and the time constant of the control system;
the excitation control quantity data calculation module is used for superposing the nominal excitation signal to the control quantity to be used as an excitation control quantity and calculating excitation difference information of actual output information and standard output information of the excitation control quantity;
and the signal parameter adjusting module is used for adjusting the parameter of the nominal excitation signal on line based on a preset step length until the parameter value of the nominal excitation signal meets the preset interference requirement if the change data of the initial difference information and the excitation difference information is used for judging that the nominal excitation signal needs to be subjected to parameter adjustment.
7. The excitation signal adjusting apparatus of the control system according to claim 6, wherein the initial control amount data calculating module is a module that calculates a standard deviation and an overrun number of each output amount of the control system in real time in a sliding window.
8. The excitation signal adjusting apparatus of the control system according to claim 7, wherein the excitation signal generating module is further configured to:
and according to the generation principle of the excitation signal type to which the nominal excitation signal belongs, generating the nominal excitation signal by taking a first ratio parameter value of the control quantity as the nominal amplitude of the nominal excitation signal and taking a second ratio parameter value of the time constant as the nominal average conversion time of the nominal excitation signal.
9. An excitation signal adjusting apparatus of a control system, comprising a processor for implementing the steps of the excitation signal adjusting method of the control system according to any one of claims 1 to 5 when executing a computer program stored in a memory.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an excitation signal adjustment program of a control system, which when executed by a processor implements the steps of the excitation signal adjustment method of the control system according to any one of claims 1 to 5.
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