CN113296396B - Automatic tracking system and method for high-frequency noise power gain - Google Patents

Automatic tracking system and method for high-frequency noise power gain Download PDF

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CN113296396B
CN113296396B CN202110578778.0A CN202110578778A CN113296396B CN 113296396 B CN113296396 B CN 113296396B CN 202110578778 A CN202110578778 A CN 202110578778A CN 113296396 B CN113296396 B CN 113296396B
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陈锦攀
唐念
李军
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Guangdong Power Grid Co Ltd
Electric Power Research Institute of Guangdong Power Grid Co Ltd
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Abstract

The invention discloses an automatic tracking system and method for high-frequency noise power gain, and relates to the technical field of process control of thermal power units. The system comprises an improved novel basic controller, a first-order inertia filter, a lead-lag observer, a high-frequency noise power gain calculation module, a nonlinear deviation integral control module and a multiplier. The invention can utilize the noise interference signal contained in the signal to complete the on-line calculation of the high-frequency noise power gain, the signal generally contains the high-frequency noise interference signal in the actual process, and the performance of the improved novel basic controller is controlled in the best state by automatically tracking the high-frequency noise power gain of the improved novel basic controller to the preset high-frequency noise power gain.

Description

Automatic tracking system and method for high-frequency noise power gain
Technical Field
The invention relates to the technical field of process control of thermal power generating units, in particular to an automatic tracking system and method for high-frequency noise power gain.
Background
In the field of thermal power unit process control, advance information of process response can be acquired by advanced observation, and the method has important significance for improving process control performance. In 2019, the "advanced and expectable basic control technology" of an article published by the automated science and newspaper in the national knowledge network in the field of industrial process control, which issues a novel basic controller (HPLO), has a breakthrough in advanced observation mechanisms. The novel basic controller can be independently used, however, the problem of noise interference amplification exists in advance observation, and the problem is mainly high-frequency noise interference amplification. When the High frequency noise interference level is High, for example, the High Frequency Noise Power Gain (HFNPG) is High, the output signal of the novel basic controller may be severely interfered, and even the novel basic controller may not work normally. In the process control of the thermal power generating unit, the problem of online control of the high-frequency noise power gain of the novel basic controller needs to be solved firstly. To a large extent, the high frequency noise power gain of the new basic controller represents the high frequency noise interference level of the new basic controller. In addition, the novel basic controller has a relatively complex structure, and engineering improvement, namely improvement of the novel basic controller (INFC), is required.
Disclosure of Invention
The invention aims to provide an automatic tracking system and method of high-frequency noise power gain, which utilize noise interference signals contained in signals to complete the on-line calculation of the high-frequency noise power gain, the signals generally contain the high-frequency noise interference signals in the actual process, and the performance of an improved novel basic controller is controlled in the best state by automatically tracking the high-frequency noise power gain of the improved novel basic controller to a preset number of high-frequency noise power gain settings.
To achieve the above object, an embodiment of the present invention provides an automatic tracking system for high frequency noise power gain, including:
the improved novel basic controller is used for acquiring a controller input signal and outputting a controller output signal;
the first-order inertial filter is used for acquiring an original value of a noise filtering parameter of the improved novel basic controller and outputting a noise filtering parameter control value and a lead time constant control value;
the advanced-delayed observer is used for acquiring the output signal of the controller and the control value of the advanced time constant and outputting an observer output signal;
the high-frequency noise power gain calculation module is used for acquiring the controller input signal and the observer output signal and outputting a second high-frequency noise power gain;
the nonlinear deviation integral control module is used for acquiring a preset high-frequency noise power gain setting and the second high-frequency noise power gain and outputting an integral control signal;
a multiplier for taking the integral control signal and the noise filter parameter raw values and outputting an inertial lag time constant given to the first order inertial filter and the lead-lag observer.
Preferably, the method further comprises the following steps:
the automatic tracking module is used for outputting start-stop signals to the first-order inertia filter and the nonlinear deviation integral control module; and when the start-stop signal is 1, the automatic tracking state is represented, and when the start-stop signal is 0, the stop state is represented.
Preferably, the improved novel basic controller comprises an input gain control module, an adder, a first inertia combination filter, a subtracter, a feedback gain control module, a second inertia combination filter, a gain compensation module, a noise filter and a noise filtering parameter selection module;
the output end of the input gain control module is connected with the first addend of the adder;
the input end of the first inertia combination filter is connected with the output end of the adder;
the output end of the first inertia combination filter is connected with the second addend of the adder;
the output end of the adder is connected with the subtracted end of the subtracter;
the output end of the subtracter is connected with the input end of the feedback gain control module;
the output end of the feedback gain control module is connected with the input end of the second inertia combination filter;
the output end of the second inertia combination filter is connected with the subtracting end of the subtracter;
the output end of the subtracter is connected with the input end of the gain compensation module;
the output end of the gain compensation is connected with the input end of the noise filter;
the output end of the noise filtering parameter selection module is connected with the input end of the noise filter;
the input end of the noise filtering parameter selection module is used for acquiring the original value of the noise filtering parameter and the control value of the noise filtering parameter.
Preferably, the parameter expression of the improved and novel basic controller is as follows:
INFC＝KIGCHEI(s)NF(s),
Figure BDA0003085262750000031
Figure BDA0003085262750000032
Figure BDA0003085262750000033
KGC＝1+KFGC,
Figure BDA0003085262750000034
Figure BDA0003085262750000035
wherein INFC(s) is a transfer function of the improved new base controller; kIGCIs the gain of the input gain control module; HEI(s) is the transfer function of the high-efficiency integrator; ICFA(s) is a transfer function of the first inertial combination filter; n isICFAIs the order of the first inertial combination filter; t isHEIIs the time constant of the high efficiency integrator; HPLO(s) is the transfer function of the new base controller; kFGCThe gain of the feedback gain control module; kGCIs the gain of the gain compensation module; ICFB(s) is the transfer function of the second inertial combination filter; n isICFBCombining the order of the filter for the second inertia; t isHPLOTo improve the time constant of the new base controller; NF(s) being noise filtersA transfer function; t is a unit ofNFPFiltering parameters for the noise of the noise filter.
Preferably, the lead-lag observer includes a lead unit and an inertial lag unit;
the output end of the leading unit is connected with the input end of the inertial delay unit;
the lead unit is used for acquiring the controller output signal and the lead time constant control value;
the inertial lag unit is used for acquiring the given inertial lag time constant and outputting an observer output signal.
Preferably, the lead-lag observer includes a lead unit and an inertial lag unit;
the parameter expression of the lead-lag observer is as follows:
L/L:O(s)＝LL(s)ILL(s),
LL(s)＝1+TLLs,TLL＝LTCCV(t),
Figure BDA0003085262750000041
TILL＝ILTCG(t)
wherein, L/L is O(s) which is a transfer function of the advance-lag observer; LL(s) is the transfer function of the look-ahead unit; t isLLIs the lead time constant of the lead unit; ltcc (t) is a lead time constant control value; ILL(s) is the transfer function of the inertial lag unit; t isILLIs the inertial lag time constant of the inertial lag unit; ILTCG (t) is given as the inertial lag time constant.
Preferably, the nonlinear deviation integral control module comprises a square root operation unit, a comparator and an integral controller;
the square root operation unit is used for obtaining a preset high-frequency noise power gain and outputting a first square root operation signal to the comparator, and the square root operation unit is also used for obtaining a second high-frequency noise power gain and outputting a second square root operation signal to the comparator;
the comparator is used for acquiring the first square root operation signal and the second square root operation signal and outputting a comparison signal;
the integral controller is used for acquiring the comparison signal and outputting an integral control signal.
Preferably, the integral controller is further configured to obtain a constant 1 from a TI input of the integral controller.
Preferably, the parameter expression of the comparator is:
Figure BDA0003085262750000042
ISG(t)＝SSRO:A(t),
ISF(t)＝SSRO:B(t)
wherein S isC(t) is a comparison signal; ISG(t) is the positive input signal of the comparator; s. theSRO:A(t) is a first square root operation signal; ISF(t) is the negative terminal input signal of the comparator; sSRO:B(t) is a second square root operation signal; DZCIs the dead band of the comparator.
Preferably, the parameter expression of the high-frequency noise power gain calculation module is:
Figure BDA0003085262750000051
Figure BDA0003085262750000052
Figure BDA0003085262750000053
Figure BDA0003085262750000054
OSSO:B(t)＝[OSHPF:B(t)]2,
Figure BDA0003085262750000055
Figure BDA0003085262750000056
Figure BDA0003085262750000057
OSSO:A(t)＝[OSHPF:A(t)]2
wherein HFNPG (t) is the second high frequency noise power gain; l is-1Representing an inverse laplace transform; MOV (B)(s) is a transfer function of the average operation B; HPF, B(s) is the transfer function of the high-pass filter B; OSHPF:B(t) is the high pass filtered B output signal; OSSO:B(t) is the output signal of the squaring operation B; IS (B), (t) IS an input signal B; MOV (A)(s) is the transfer function of the average value operation A; HPF, A(s) is the transfer function of the high-pass filtering A; OSHPF:A(t) is the high pass filtered A output signal; OSSO:A(t) is the output signal of the square operation A; IS (a), (t) IS an input signal A; MOV (A)(s) is the transfer function of the average value operation A; OSSO:A(t) is the output signal of the square operation A; IS (a), (t) IS an input signal A; t isMTIs the average length of time common to MOV: B(s) and MOV: A(s); t isHPFIs the high-pass filter time constant common to HPF B(s) and HPF A(s).
The embodiment of the invention also provides an automatic tracking method of the high-frequency noise power gain, which comprises the following steps:
inputting a controller input signal to the improved novel basic controller to obtain a controller output signal;
inputting the original value of the noise filtering parameter of the improved novel basic controller into a first-order inertia filter to obtain a noise filtering parameter control value and a lead time constant control value;
inputting the controller output signal and the lead time constant control value into a lead-lag observer to obtain an observer output signal;
inputting the controller input signal and the observer output signal to a high-frequency noise power gain calculation module to obtain a second high-frequency noise power gain;
inputting a preset high-frequency noise power gain setting and the second high-frequency noise power gain into a nonlinear deviation integral control module to obtain an integral control signal;
inputting the integral control signal and the original value of the noise filtering parameter into a multiplier to obtain a given inertia lag time constant;
the inertial lag time constant is given input to the first order inertial filter and the lead-lag observer.
Preferably, the method further comprises the following steps:
inputting a start-stop signal output by an automatic tracking module into the first-order inertia filter and the nonlinear deviation integral control module; and when the start-stop signal is 1, the automatic tracking state is represented, and when the start-stop signal is 0, the stop state is represented.
Preferably, the improved and novel basic controller comprises an input gain control module, an adder, a first inertia combination filter, a subtracter, a feedback gain control module, a second inertia combination filter, a gain compensation module, a noise filter and a noise filtering parameter selection module;
the output end of the input gain control module is connected with the first addend of the adder;
the input end of the first inertia combination filter is connected with the output end of the adder;
the output end of the first inertia combination filter is connected with the second addend of the adder;
the output end of the adder is connected with the subtracted end of the subtracter;
the output end of the subtracter is connected with the input end of the feedback gain control module;
the output end of the feedback gain control module is connected with the input end of the second inertia combination filter;
the output end of the second inertia combination filter is connected with the subtracting end of the subtracter;
the output end of the subtracter is connected with the input end of the gain compensation module;
the output end of the gain compensation is connected with the input end of the noise filter;
the output end of the noise filtering parameter selection module is connected with the input end of the noise filter;
the input end of the noise filtering parameter selection module is used for acquiring the original value of the noise filtering parameter and the control value of the noise filtering parameter.
Preferably, the parameter expression of the improved and novel basic controller is as follows:
INFC＝KIGCHEI(s)NF(s),
Figure BDA0003085262750000071
Figure BDA0003085262750000072
Figure BDA0003085262750000073
KGC＝1+KFGC,
Figure BDA0003085262750000074
Figure BDA0003085262750000075
wherein INFC(s) is a transfer function of the improved new base controller; kIGCFor addition of input gain control modulesBenefiting; HEI(s) is the transfer function of the high-efficiency integrator; icfa(s) is the transfer function of the first inertial combination filter; n isICFAIs the order of the first inertial combination filter; t isHEIIs the time constant of the high efficiency integrator; HPLO(s) is the transfer function of the new base controller; kFGCThe gain of the feedback gain control module; kGCIs the gain of the gain compensation module; ICFB(s) is the transfer function of the second inertial combination filter; n isICFBCombining the order of the filter for the second inertia; t isHPLOTo improve the time constant of the new base controller; NF(s) is the transfer function of the noise filter; t isNFPFiltering parameters for the noise of the noise filter.
Preferably, the lead-lag observer includes a lead unit and an inertial lag unit;
the output end of the leading unit is connected with the input end of the inertial delay unit;
the lead unit is used for acquiring the controller output signal and the lead time constant control value;
the inertial lag unit is used for acquiring the given inertial lag time constant and outputting an observer output signal.
Preferably, the lead-lag observer includes a lead unit and an inertial lag unit;
the parameter expression of the lead-lag observer is as follows:
L/L:O(s)＝LL(s)ILL(s),
LL(s)＝1+TLLs,TLL＝LTCCV(t),
Figure BDA0003085262750000081
TILL＝ILTCG(t)
wherein, L/L is O(s) which is a transfer function of the advance-lag observer; LL(s) is the transfer function of the look-ahead unit; t isLLIs the lead time constant of the lead unit; ltcc (t) is a lead time constant control value; ILL(s) is the transfer function of the inertial lag unit; t is a unit ofILLIs the inertial lag time of the inertial lag unitA constant; iltcg (t) is given for the inertial lag time constant.
Preferably, the nonlinear deviation integral control module comprises a square root operation unit, a comparator and an integral controller;
the square root operation unit is used for obtaining a preset high-frequency noise power gain and outputting a first square root operation signal to the comparator, and the square root operation unit is also used for obtaining a second high-frequency noise power gain and outputting a second square root operation signal to the comparator;
the comparator is used for acquiring the first square root operation signal and the second square root operation signal and outputting a comparison signal;
the integral controller is used for acquiring the comparison signal and outputting an integral control signal.
Preferably, the method further comprises the following steps: a constant 1 is input to the TI input of the integral controller.
Preferably, the parameter expression of the comparator is:
Figure BDA0003085262750000082
ISG(t)＝SSRO:A(t),
ISF(t)＝SSRO:B(t)
wherein S isC(t) is a comparison signal; ISG(t) is the positive input signal of the comparator; sSRO:A(t) is a first square root operation signal; ISF(t) is the negative terminal input signal of the comparator; sSRO:B(t) is a second square root operation signal; DZCIs the dead band of the comparator.
Preferably, the parameter expression of the high-frequency noise power gain calculation module is:
Figure BDA0003085262750000091
Figure BDA0003085262750000092
Figure BDA0003085262750000093
Figure BDA0003085262750000094
OSSO:B(t)＝[OSHPF:B(t)]2,
Figure BDA0003085262750000095
Figure BDA0003085262750000096
Figure BDA0003085262750000097
OSSO:A(t)＝[OSHPF:A(t)]2
wherein HFNPG (t) is the second high frequency noise power gain; l is-1Representing an inverse laplace transform; MOV (B)(s) is the transfer function of the average value operation B; HPF, B(s) is the transfer function of the high-pass filter B; OSHPF:B(t) is the high pass filtered B output signal; OSSO:B(t) is the output signal of the squaring operation B; IS (B), (t) IS an input signal B; MOV (A)(s) is the transfer function of the average value operation A; HPF, A(s) is the transfer function of the high-pass filter A; OSHPF:A(t) is the high pass filtered A output signal; OSSO:A(t) is the output signal of the square operation A; IS (a), (t) IS an input signal A; MOV (A)(s) is the transfer function of the average value operation A; OSSO:A(t) is the output signal of the square operation A; IS (a), (t) IS an input signal A; t isMTIs the average length of time common to MOV: B(s) and MOV: A(s); t isHPFIs the common height of HPF, B(s) and HPF, A(s)The pass filter time constant.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an automatic tracking system of high-frequency noise power gain, which comprises an improved novel basic controller, a first signal acquisition unit, a second signal acquisition unit and a first signal processing unit, wherein the improved novel basic controller is used for acquiring a controller input signal and outputting a controller output signal; the first-order inertial filter is used for acquiring an original value of a noise filtering parameter of the improved novel basic controller and outputting a noise filtering parameter control value and a lead time constant control value; the advanced-lag observer is used for acquiring the controller output signal and the advanced time constant control value and outputting an observer output signal; the high-frequency noise power gain calculation module is used for acquiring the controller input signal and the observer output signal and outputting a second high-frequency noise power gain; the nonlinear deviation integral control module is used for acquiring a preset high-frequency noise power gain setting and the second high-frequency noise power gain and outputting an integral control signal; a multiplier for taking the integral control signal and the noise filter parameter raw values and outputting an inertial lag time constant given to the first order inertial filter and the lead-lag observer. The invention can utilize the noise interference signal contained in the signal to complete the on-line calculation of the high-frequency noise power gain, the signal generally contains the high-frequency noise interference signal in the actual process, and the performance of the improved novel basic controller is controlled in the best state by automatically tracking the high-frequency noise power gain of the improved novel basic controller to the preset high-frequency noise power gain.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments 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 it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic tracking system for high-frequency noise power gain according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an improved basic controller in an automatic tracking system for high-frequency noise power gain according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lead-lag observer in an automatic tracking system for high-frequency noise power gain according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating the principle of the non-linear deviation integral control and the feedback process control in the automatic tracking system for the high-frequency noise power gain according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating feedback process control variables and automatic tracking variables in an automatic tracking system for high-frequency noise power gain according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a high frequency noise power gain calculation module in an automatic tracking system for high frequency noise power gain according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of an automatic tracking method for high frequency noise power gain according to an embodiment of the present invention;
FIG. 8 is a graph of simulation results of an input signal of an improved and novel base controller according to an embodiment of the present invention;
FIG. 9 is a graph of simulation results of the output signal of the lead/lag observer according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating a simulation experiment result of a second high frequency noise power gain according to an embodiment of the present invention;
FIG. 11 is a graph of simulation results given an inertial lag time constant according to an embodiment of the present invention;
fig. 12 is a diagram illustrating a simulation experiment result of a noise filtering parameter control value according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a computer terminal device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are for convenience of description only and are not used as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
The following are terms and abbreviations for embodiments of the present invention:
an Improved novel basic controller (INFC); input Gain Control (IGC); a High Efficiency Integrator (HEI); inertial Combination Filters (ICF); feedback Gain Control (FGC); gain Compensation (GC); noise filters (Noisefilter, NF); noise Filtering Parameter (NFP); an Adder (Adder, a); a subtractor (S); noise Filter Parameter Selection (NFPS); noise Filter Parameters Original Value (NFPOV); noise Filter Parameter Control Value (NFPCV); a Lead time constant control value (ltcc); inertial lag (Inertia lag link, ILL); inertial lag time constant given (Inertia lag time constant given, ILTCG); high Frequency Noise Power Gain (HFNPG); high Frequency Noise Power Gain Given (HFNPGG); tracking Input (TI); output Tracking Control (OTC); feedback Process Control (FPC); a Feedback Process Control Process (FPCP); band Pass Filter Gain (BPFG); band Pass Filter Bandwidth (BPFB); noise Bandwidth (INB); first order inertial filters (First order inertia filter, FOIF); input Signal (IS); mean Value Operation (MVO); high Pass Filtering (HPF); absolute Value Operation (AVO); division Operation (DO).
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic tracking system for high frequency noise power gain according to an embodiment of the present invention. The automatic tracking system for the high-frequency noise power gain provided by the embodiment comprises an improved novel basic controller 10, a first-order inertia filter 20, a lead-lag observer 30, a high-frequency noise power gain calculation module 40, a nonlinear deviation integral control module 50 and a multiplier 60.
In the embodiment of the present invention, a new and improved basic controller 10 is provided for acquiring a controller input signal and outputting a controller output signal; a first-order inertia filter 20, configured to obtain an original noise filtering parameter value of the improved basic controller 10, and output a noise filtering parameter control value and a lead time constant control value; a lead-lag observer 30 for acquiring the controller output signal and the lead time constant control value, and outputting an observer output signal; a high-frequency noise power gain calculation module 40, configured to obtain the controller input signal and the observer output signal, and output a second high-frequency noise power gain; a nonlinear deviation integral control module 50, configured to obtain a preset high-frequency noise power gain setting and the second high-frequency noise power gain, and output an integral control signal; a multiplier 60 for taking the integration control signal and the noise filter parameter raw value and outputting an inertia lag time constant given to the first order inertia filter 20 and the lead lag observer 30.
In the embodiment of the invention, the actual process signal is specifically a deviation signal given by a main steam pressure process of the thermal power generating unit and responding to the main steam pressure process.
In one embodiment, the automatic tracking system for high frequency noise power gain further includes an automatic tracking module 70, configured to output a start-stop signal to the first-order inertial filter 20 and the nonlinear deviation integral control module 50; and when the start-stop signal is 1, the automatic tracking state is represented, and when the start-stop signal is 0, the stop state is represented. And (3) an on-off signal (AT/S), wherein AT/S is 0 to represent a Stop state, and AT/S is 1 to represent an automatic tracking state. The AT/S can be directly used for representing automatic tracking or stopping control output, and the start-stop signal is a BOOL variable.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an improved basic controller in an automatic tracking system for high frequency noise power gain according to an embodiment of the present invention. The improved basic controller 10 provided by the present embodiment includes an input gain control module 11, an adder 12, a first inertia combination filter 13, a subtractor 14, a feedback gain control module 15, a second inertia combination filter 16, a gain compensation module 17, a noise filter 18, and a noise filtering parameter selection module 19.
In the embodiment of the present invention, the output end of the input gain control module 11 is connected to the first addend of the adder 12; the input end of the first inertia combination filter 13 is connected with the output end of the adder 12; the output end of the first inertia combination filter 13 is connected with the second addend of the adder 12; the output end of the adder 12 is connected with the subtracted end of the subtracter 14; the output end of the subtractor 14 is connected with the input end of the feedback gain control module 15; the output end of the feedback gain control module 15 is connected with the input end of the second inertia combination filter 16; the output end of the second inertia combination filter 16 is connected with the subtraction end of the subtracter 14; the output end of the subtractor 14 is connected with the input end of the gain compensation module 17; the output end of the gain compensation is connected with the input end of the noise filter 18; the output end of the noise filtering parameter selection module 19 is connected with the input end of the noise filter 18; the input of the noise filtering parameter selection module 19 is used to obtain the original value of the noise filtering parameter and the control value of the noise filtering parameter.
In the embodiment of the present invention, the parameter expression of the improved and new basic controller 10 is:
Figure BDA0003085262750000141
wherein infc(s) is a transfer function of the improved new base controller 10; kIGCThe gain is input into the gain control module 11, and the unit is dimensionless; HEI(s) is the transfer function of the high-efficiency integrator; icfa(s) is the transfer function of the first inertial combination filter 13; n is a radical of an alkyl radicalICFAIs the order of the first combined inertial filter 13 in dimensionless units; t isHEIIs the time constant of the high-efficiency integrator, and has the unit of s; HPLO(s) is the transfer function of the new base controller; kFGCIs the gain of the feedback gain control module 15, and has a dimensionless unit; kGCIs the gain of the gain compensation module 17, and the unit is dimensionless; ICFB(s) is the transfer function of the second inertial combination filter 16; n isICFBIs the order of the second inertial combination filter 16 in dimensionless units; t isHPLOTo improve the time constant of the new basic controller 10, in units of s; NF(s) is the transfer function of the noise filter 18; t isNFPIs the noise filter parameter of the noise filter 18, with the unit s.
In one embodiment, the decomposition step for the above formula (1) is as follows:
1) and the input signal of the improved and novel basic controller is connected to the input end of the input gain control. By ISINFC(t) expressing the improved novel base controller input signal in dimensionless units.
2) And connecting the input gain control output end to a first addend of an Adder (Adder, A).
3) And connecting the output end of the adder to the input end of the first inertia combination filter.
4) And connecting the output end of the first inertia combination filter to a second addend of the adder.
5) And connecting the output end of the adder to the Subtracted end of a subtracter (S).
6) And connecting the output end of the subtracter to the input end of the feedback gain control.
7) And connecting the output end of the feedback gain control to the input end of the second inertia combination filter.
8) And connecting the output end of the second inertia combination filter to the subtraction end of the subtracter.
9) And connecting the output end of the subtracter to the input end of the gain compensation.
10) And connecting the output end of the gain compensation to the input end of the noise filter. An improved novel basic controller output signal is obtained at the output of the noise filter. By OSINFC(t) expressing the improved novel base controller output signal in dimensionless units.
In one embodiment, the automatic tracking system for high frequency noise power gain further comprises: the automatic tracking module 70, the expression of Noise filter parameters selection module (NFPS) in the improved basic controller is as follows:
Figure BDA0003085262750000151
wherein nfpso (t) selects an output for the noise filtering parameter in units of s; NFPOV is the noise filter parameter raw value in s. Nfpcv (t) is a noise filtering parameter control value in units of s; AT/S is on-offA signal, a BOOL variable; t isNFPIs a noise filtering parameter, and has the unit of s.
In one embodiment, the decomposition step for the above formula (2) is as follows:
1) and connecting the NFPOV to the NFPOV input end of the NFPS.
2) (t) accessing the NFPCV to an NFPCV input of the NFPS.
3) And connecting the AT/S to the NFPS input end of the NFPS.
4) And obtaining the noise filtering parameter selection output (nfpso (t)) at an SO Output (SO) of the NFPS.
4) Setting the T with the NFPSO (T)NFPI.e. TNFPNfpso (t). If the AT/S is 0, the TNFPNFPOV. If the AT/S is 1, the TNFP＝NFPCV(t)。
Referring to fig. 3, fig. 3 is a schematic structural diagram of a lead-lag observer in an automatic tracking system of high-frequency noise power gain according to an embodiment of the present invention. The lead-lag observer 30 provided in the present embodiment includes a lead unit 31 and an inertial lag unit 32.
In the embodiment of the present invention, the output end of the lead unit 31 is connected to the input end of the inertial lag unit 32; the lead unit 31 is configured to obtain the controller output signal and the lead time constant control value; the inertial lag unit 32 is configured to acquire the inertial lag time constant setpoint and output an observer output signal.
In the embodiment of the present invention, the parameter expression of the lead-lag observer 30 is:
Figure BDA0003085262750000161
wherein, L/L is O(s) is the transfer function of the lead-lag observer 30; LL(s) is the transfer function of the look-ahead unit 31; t isLLIs the lead time constant of the lead unit 31, in units of s; ltcc (t) is the lead time constant control value in units of s; ILL(s) is an inertial hysteresis unit 32; t isILLIs the inertial lag time constant of the inertial lag unit 32, in units of s; ILTCG (t) is given as the inertial lag time constant in units of s.
In one embodiment, the decomposition step for the above equation (3) is as follows:
1) the INFC output signal is coupled to an input of the LL. Setting the T with the NFPCV (T)LLI.e. TLL＝NFPCV(t)。
2) And connecting the output end of the LL to the input end of the ILL. Setting the T with the ILTCG (T)ILLI.e. TILL＝ILTCG(t)。
3) And obtaining the L/L: O output signal at the output end of the ILL. By OSL/L:O(t) expressing the L/L: O output signal in dimensionless units.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a principle of nonlinear deviation integral control and feedback process control in an automatic tracking system of high frequency noise power gain according to an embodiment of the present invention.
In the embodiment of the present invention, the nonlinear deviation integral control module 50 includes a square root operation unit 51, a comparator 52, and an integral controller 53; the square root operation unit 51 is configured to obtain a preset high-frequency noise power gain and output a first square root operation signal to the comparator 52, and the square root operation unit 51 is further configured to obtain a second high-frequency noise power gain and output a second square root operation signal to the comparator 52; the comparator 52 is configured to obtain the first square root operation signal and the second square root operation signal, and output a comparison signal; the integral controller 53 is configured to obtain the comparison signal and output an integral control signal.
In the embodiment of the present invention, the Square root operation unit 51 includes a Square root operation A (SRO: A) and a Square root operation B (SRO: B), and the Square root operation unit 51 has the following expression:
Figure BDA0003085262750000171
wherein S isSRO:A(t) is a first square root operation signal, with dimensionless units; HFNPGG is a preset number of High Frequency Noise Power Gain Given (HFNPGG), and the unit is dimensionless; sSRO:B(t) is a second square root operation signal, with dimensionless units; HFNPG, S (t), is the second high frequency noise power gain in dimensionless units.
In the present embodiment, the expression of the Comparator 52(Comparator, C) is:
Figure BDA0003085262750000172
wherein S isC(t) is a comparison signal in dimensionless units; ISG(t) is the input signal at the positive terminal of the comparator 52 in dimensionless units; ISG(t)＝SSRO:A(t)，SSRO:A(t) is a first square root operation signal; ISF(t) is the input signal at the negative terminal of the comparator 52 in dimensionless units. ISF(t)＝SSRO:B(t)，SSRO:B(t) is a second square root operation signal; DZCThe Dead Zone (DZ) of the comparator 52 is in dimensionless units.
In the embodiment of the invention, the tracking control of integral control has the expression:
Figure BDA0003085262750000173
wherein S isIC(t) is an integral control signal in dimensionless units; TI is Tracking Input (TI) of the integral control, and the unit is dimensionless; OTC is an Output Tracking Control (OTC) of the integral control, which is a BOOL variable; AT/S is a start-stop signal and is a BOOL variable; s. theC(t) is the comparison signal in dimensionless units.
The integral control tracking control steps are as follows:
1) a constant 1 is connected to the TI input of the integration control.
2) And connecting the AT/S to the OTC input end of the integral control.
3) If the AT/S is equal to 0, then the OTC is equal to AT/S is equal to 0, then the integral control signal is SIC(t) tracking constant 1, i.e. SIC(t)＝TI＝1。
4) If the AT/S is equal to 1, then the OTC is equal to AT/S is equal to 1, then the integral control signal is SIC(t) is the comparison signal, namely SCNegative integration of (t). Said integral control signal being SIC(t) has an initial memory effect, and after OTC is AT/S is 1, S isIC(t) will vary on a constant 1 basis.
At DZCWhen 0, the Feedback Process Control (FPC) expression is:
Figure BDA0003085262750000181
wherein FPC(s) is a transfer function of the FPC; NDIC(s) is a transfer function of the nonlinear deviation integral control; FPCP(s) is a transfer function of a Feedback Process Control Process (FPCP), approximating a Nonlinear Proportional System (NPS); BPFGINFC:ILLA Band Pass Filter Gain (BPFG) in dimensionless units for the INFC input to the ILL output; BPFBINFC:ILLA Band Pass Filter Bandwidth (BPFB) unit of rad/s for the INFC input to the ILL output; INBINFCThe unit is rad/s for the noise bandwidth (INB) at the INFC Input. Ndic(s) is only one symbol used to express the non-linear deviation integral control transfer function.
Referring to fig. 5, fig. 5 is a schematic flow chart illustrating a feedback process control quantity and an automatic tracking quantity in an automatic tracking system of a high frequency noise power gain according to an embodiment of the present invention.
In the embodiment of the present invention, the feedback process control quantity is expressed as iltcg (t), i.e. the inertial lag time constant is given, and the expression is:
ILTCG(t)＝SIC(t)NFPOV (8)
wherein ILTCG (t) is a feedback process control quantity given by an inertia lag time constant, and the unit is s; sIC(t) is the integral control signal in dimensionless units; NFPOV is the original value of the noise filter parameter in s.
The expression of the auto-trace quantity is:
Figure BDA0003085262750000191
wherein, FOIF(s) is a transfer function of a First order inertial filter 20 (FOIF); t isFOIFIs the time constant of the first order inertial filter 20 in units of s; nfpcv (t) is the noise filtering parameter control value in s; TI is the tracking input of the first order inertial filter 20 in dimensionless units; NFPOV is the original value of the noise filtering parameter, and the unit is s; OTC is the tracking control of the first order inertial filter 20, being the BOOL variable. AT/S is a start-stop signal and is a BOOL variable; l is-1Representing an inverse laplace transform; iltcg (t) is given by the inertial lag time constant in units of s. Ltcc (t) is the lead time constant control value in units of s; quantitatively, ltcc v (t) ═ nfpcv (t); the NFPCV (t) and the LTCCV (t) are the auto-trace amounts.
The first-order inertial filter tracking control steps are as follows:
1) the original value of the noise filtering parameter, namely NFPOV, is connected to the TI input of the first-order inertial filter, namely TI ═ NFPOV.
2) And connecting the AT/S to an OTC input end of the first-order inertia filter, namely OTC (AT/S).
3) If AT/S is 0, OTC is 0, then the first order inertial filter output signal iltcg (t) tracks the NFPOV, iltcg (t) TI NFPOV.
4) If AT/S is 1, then OTC is 1, then nfpcv (t), the first order inertial filter output signal, is the first order inertial filter tracking for the given inertial lag time constant, iltcg (t); the NFPCV (t) has an initial memory function, and after OTC (AT/S) 1, NFPCV (t) will change based on the NFPOV.
5) Setting the LTCCV (t) equal to the NFPCV (t).
Referring to fig. 6, fig. 6 is a schematic structural diagram of a high frequency noise power gain calculation module in an automatic tracking system for high frequency noise power gain according to an embodiment of the present invention.
In the embodiment of the present invention, a calculation result of a high frequency noise power gain of an Input signal B (Input signal of B, IS: B) with respect to an Input signal a (Input signal of a, IS: a) IS obtained through the high frequency noise power gain calculation, and the high frequency noise power gain calculation result IS output at an OS output end of the high frequency noise power gain calculation.
The expression of the high-frequency noise power gain calculation module 40 is:
Figure BDA0003085262750000201
the unit of the HFNPG (t) is a dimensionless unit of a second high-frequency noise power gain output by the high-frequency noise power gain calculation module; l is-1Representing an inverse laplace transform; MOV (B)(s) is the transfer function of Mean value operation B (MVO: B); b(s) is a transfer function of High pass filter B (HPF: B); OSHPF:B(t) is the high pass filtered B output signal in dimensionless units; OSSO:B(t) is a Square operation of B (SO: B) output signal, and the unit is dimensionless; IS (B), (t) IS input signal B, the unit IS dimensionless; MOV(s) is the transfer function of Mean value operation A (MVO: A); a(s) is the transfer function of the High pass filter A (HPF: A); OSHPF:A(t) is the high pass filtered A output signal in dimensionless units; OSSO:A(t) is a Square operation of A (SO: A) output signal, and the unit is dimensionless; IS (a), (t) IS an input signal a,the units are dimensionless; MOV(s) is the transfer function of Mean value operation A (MVO: A); OSSO:A(t) is a Square operation of A (SO: A) output signal, and the unit is dimensionless; IS (t) IS an input signal A with dimensionless units; t isMTThe Mean Time (MT) length common to MOV: B(s) and MOV: A(s) in s; t isHPFIs the high-pass filtering time constant common to HPF: B(s) and HPF: A(s) in units of s.
In one embodiment, the decomposition step for the above equation (10) is as follows:
1) the input signal B is connected to the input of the high-pass filter B.
2) And connecting the output end of the high-pass filtering B to the input end of the square operation B.
3) And connecting the output end of the square operation B to the input end of the average operation B.
4) The input signal a is coupled to an input of the high-pass filter a.
5) And connecting the output end of the high-pass filter A to the input end of the square operation A.
6) And connecting the output end of the square operation A to the input end of the average operation A.
7) And connecting the output end of the average value operation B to the dividend input end of Division Operation (DO). And connecting the output end of the average value operation A to the divisor input end of the Division Operation (DO). And obtaining the high-frequency noise power gain calculation process at the output end of the division operation. The high frequency noise power gain calculation process is expressed in units of dimensionless terms by hfnpg (t).
8) And outputting a second high-frequency noise power gain HFNPG (t) output by the high-frequency noise power gain calculation module at an OS output end of the high-frequency noise power gain calculation module.
Referring to fig. 7, fig. 7 is a flowchart illustrating an automatic tracking method for high frequency noise power gain according to an embodiment of the present invention. The same portions of this embodiment as those of the above embodiments will not be described herein again. The automatic tracking method for the high-frequency noise power gain provided by the embodiment comprises the following steps:
s210, inputting a controller input signal to the improved novel basic controller to obtain a controller output signal;
s220, inputting the original value of the noise filtering parameter of the improved novel basic controller into a first-order inertia filter to obtain a noise filtering parameter control value and a lead time constant control value;
s230, inputting the controller output signal and the lead time constant control value into a lead-lag observer to obtain an observer output signal;
s240, inputting the controller input signal and the observer output signal to a high-frequency noise power gain calculation module to obtain a second high-frequency noise power gain;
s250, inputting a preset high-frequency noise power gain setting and the second high-frequency noise power gain into a nonlinear deviation integral control module to obtain an integral control signal;
s260, inputting the integral control signal and the original value of the noise filtering parameter into a multiplier to obtain a given inertia lag time constant;
s270, inputting the inertia lag time constant to the first-order inertia filter and the lead-lag observer.
In a certain embodiment, the method for automatically tracking the high-frequency noise power gain further includes inputting a start-stop signal output by an automatic tracking module to the first-order inertial filter and the nonlinear deviation integral control module; and when the start-stop signal is 1, the automatic tracking state is represented, and when the start-stop signal is 0, the stop state is represented.
In the embodiment of the invention, the automatic tracking control for improving the high-frequency noise power gain of the novel basic controller mainly comprises the following steps: a feedback process control procedure, an automatic tracking/stopping procedure, and a feedback process control procedure are constructed.
(one) construction of a feedback Process control Process
1) Advancing/retarding the leadObserver input signal ISINFC:S(t) IS connected to the IS: A input of said high frequency noise power gain calculation. (ii) applying the advance/retard observer output signal, OSL/L:O(t) IS connected to the IS: B input of said high frequency noise power gain calculation. (ii) obtaining the second high frequency noise power gain, HFNPG, at the output of the high frequency noise power gain calculation.
2) The given high-frequency noise power gain (HFNPGG) of the preset number is connected to the input end of the square root operation A, and a square root operation A signal (S) is obtained at the output end of the square root operation ASRO:A(t)。
3) The second high frequency noise power gain HFNPG (t) is connected to the input end of the square root operation B, and a square root operation B signal S is obtained at the output end of the square root operation BSRO:B(t)。
4) The square root operation a signal is connected to the positive input of the comparator. The square root operation B signal is connected to the negative input end of the comparator. Obtaining a comparison signal, i.e. S, at the output of the comparatorC(t)。
5) The comparison signal is connected to the input of the integral control. Obtaining an integral control signal, S, at an output of the integral controlIC(t)。
6) Integrating the control signal, i.e. SIC(t) is coupled to a first input of said multiplication and said noise filter parameter original value, NFPOV, is coupled to a second input of said multiplication. The given inertial lag time constant, iltcg (t), is obtained at the multiplier output.
7) Connecting the given inertial lag time constant ILTCG (T) to the ILTCG input of the lead/lag observer for giving the inertial lag time constant TILLI.e. TILL＝ILTCG(t)。
8) An inertial lag time constant given, iltcg (t), is coupled to the input of the first order inertial filter. And obtaining the noise filtering parameter control value NFPCV (t) at the output end of the first-order inertia filter.
9) Setting the lead time constant control value, i.e., ltcc (t) ═ nfpcv (t), with the noise filtering parameter control value, i.e., nfpcv (t).
10) Connecting the noise filtering parameter control value NFPCV (T) to the NFPCV input end of the improved novel basic controller for setting the noise filtering parameter T in an automatic tracking stateNFPThe improved high frequency noise power gain of the novel basic controller, namely HFNPGINFC(t) automatically tracking the second high frequency noise power gain, HFNPG: S (t).
11) Accessing the advance time constant control value (LTCCV (T)) to an LTCCV input of the advance/retard observer for setting the advance time constant (T) in an automatic tracking stateLLThe purpose is to accurately observe the noise filter input signal.
(II) automatic tracking/stopping procedure
1) Setting the stop state, i.e. AT/S is equal to 0, the feedback process control stops working, and the integral control signal, i.e. SIC(t) 1, and the inertia lag time constant is given as iltcg (t) SICAnd (t) NFPOV ═ NFPOV, and the noise filtering parameter control value is nfpcv (t) ═ NFPOV. The inertial lag time constant, TILLNFPOV. The noise filtering parameter is TNFPNFPOV. The lead time constant being TLL＝NFPOV。
2) Setting an automatic tracking state, i.e., AT/S ═ 1, the feedback process control starts operating, and the inertial lag time constant is given, i.e., iltcg (t) ═ SIC(t) NFPOV. And performing first-order inertial filtering tracking on the given inertial lag time constant ILTCG (t) to obtain the control value of the noise filtering parameter NFPCV (t) and the control value of the lead time constant LTCCV (t). The inertial lag time constant, TILL-iltcg (T), said noise filtering parameter, i.e. TNFPNfpcv (T), the lead time constant, TLL＝LTCCV(t)。
(III) feedback Process control Process
In the automatic tracking state, i.e. AT/S is equal to 1, through the feedbackControlling the inertia lag time constant (ILTCG (T)) as control quantity to control the inertia lag time constant (T)ILLBy means of, i.e. TILLControlling the high-frequency noise power gain at the output end of the advance/retard observer, namely the second high-frequency noise power gain, namely HFNPG (S (t)), to be HFNPGG which is the given high-frequency noise power gain of the preset number; and performing first-order inertial filtering tracking on the given inertial lag time constant ILTCG (t) to obtain the noise filtering parameter control value NFPCV (t). Setting the noise filtering parameter, i.e. T, with the noise filtering parameter control value, i.e. NFPCV (T)NFPI.e. TNFP(t) making the improved new base controller high frequency noise power gain, HFNPGINFC(t) automatically tracking the second high frequency noise power gain, HFNPG: S (t). After the feedback process control enters a steady state, finally, the improved novel basic controller High Frequency Noise Power Gain (HFNPG)INFC(t) automatically tracking the predetermined number of high frequency noise power gain settings, HFNPGG. Setting a lead time constant, i.e., T, using the lead time constant control value, i.e., LTCCV (T)LLI.e. TLLLtcc (t), the purpose is to accurately observe the noise filter input signal.
Due to the instability of the noise disturbance signal, after the feedback process control enters a steady state, the given inertial lag time constant, i.e., ILTCG (t), will fluctuate around its Average Value (AV), which is expressed in s by ILTCG: AV. Because the first-order inertial filtering tracking is carried out on the given inertial lag time constant ILTCG (t) to obtain the filtering parameter control value NFPCV (t), the filtering parameter control value is smoother than that of ILTCG (t) and that of NFPCV (t).
To further explain the automatic tracking system and method for high-frequency noise power gain provided by the present invention, a specific embodiment of the present invention is introduced as follows:
in one embodiment, the parameters of the improved and new basic controller mainly adopt a set of parameters given by the literature: kIGC＝1，THEI＝593s，nICFA＝16，THPLO＝233s，KFGC＝10，KGC＝11，nICFB8, NFPOV 23 s; setting T of the high frequency noise power gain calculationMTSetting K of said high-pass filtering to 600sHPF30 s; setting DZ of the comparatorC0.25. Setting T of the integral controlIC1375 s; setting T of the first order inertial filteringFOIF500 s; and setting the given HFNPGG of the high-frequency noise power gain of the preset number to be 6.5.
The new and improved basic controller input signal is changed in a trapezoidal shape within a process time t of 3000 s-6000 s, the amplitude of the trapezoidal shape is 0.25, and the rising time, the flat top time and the falling time of the trapezoidal shape are all 1000s, so as to examine the influence of the change of the new and improved basic controller input signal on the second high-frequency noise power gain HFNPG, S (t), the inertia lag time constant given ILTCG (t) and the noise filter parameter control value NFPCV (t). And simulating a noise interference signal in an input signal of the improved novel basic controller by using a pseudo-random signal, wherein the output range of the pseudo-random signal is +/-0.01, and the unit is infinite.
At a digital discrete measurement interval of 1S, S/R is set to 1 and MT/T is set to 0 starting from a process time T to 0S. MT/T is set to 1 starting from process time T1000 s. At a digital discrete measurement interval of 1S, the start-up state is set starting from a process time t of 0S, i.e. S/R of 1. The automatic state is set at a process time T of 1000s, i.e., a/T of 1. The result of the simulation experiment of the input signal of the improved novel basic controller is shown in fig. 8. The results of the simulation experiment of the output signal of the lead-lag observer are shown in fig. 9. The result of the simulation experiment of the second high-frequency noise power gain is shown in fig. 10. The result of the simulation experiment given by the inertia lag time constant is shown in fig. 11. The simulation experiment result of the noise filtering parameter control value is obtained and is shown in fig. 12.
As shown in fig. 10, in the given process time t, which is in the range of 0 to 8000s, starting from t 0s, the second high-frequency noise power gain, i.e., HFNPG, s (t) gradually converges to the predetermined number of high-frequency noise power gains, i.e., HFNPGG, 6.5, and finally fluctuates around 6.5; as shown in fig. 11, the inertia lag time constant given value ILTCG (t) gradually decreases from 23s from t 0s, and finally fluctuates around the average value ILTCG (t), AV. Wherein ILTCG (t) is 7.2s at t, which is an average value of 820s to 8000 s. The NFPCV (t) is smoother than the ILTCG (t).
As can be seen from fig. 10, 11, and 12, the trapezoidal change of the new and improved basic controller input signal at the process time t of 3000s to 6000s has little influence on the second high-frequency noise power gain HFNPG(s) (t), the inertia lag time constant setting iltcg (t), and the noise filter parameter control value nfpcv (t).
According to the technical scheme, the embodiment of the invention has the following advantages:
the embodiment of the invention provides an automatic tracking method and device for improving the high-frequency noise power gain of a novel basic controller, which utilize noise interference signals contained in signals to complete the on-line calculation of the second high-frequency noise power gain, and the signals generally contain the high-frequency noise interference signals in the actual process. Controlling the inertia lag time constant (T) by using the inertia lag time constant (ILTCG (T)) as a control quantity through the feedback process controlILLBy means of, i.e. TILLAnd controlling the output end of the advance/lag observer relative to the input end of the improved novel basic controller, namely INFC, namely the second high-frequency noise power gain, namely HFNPG, (t) to be at the preset number of high-frequency noise power gain preset values, namely HFNPGG. Obtaining the noise filtering parameter control value NFPCV (t) by performing first-order inertial filtering tracking on the given inertial lag time constant ILTCG (t), and enabling the improved novel basic controller to obtain the high-frequency noise power gain HFNPGINFC(t) tracking the second high frequency noise power gain, HFNPG: S (t). After the feedback process control enters a steady state, finally, the improved novel basic controller High Frequency Noise Power Gain (HFNPG)INFC(t) tracking said predetermined number of high frequency noise power gain settings, HFNPGG; the obvious characteristics are that: through automatic tracking control, the high frequency of the novel basic controller is improvedAnd automatically tracking the noise power gain to the preset number of high-frequency noise power gain settings, and controlling the performance of the improved novel basic controller in an optimal state. And has little impact on the online operation of the improved new base controller, e.g., without applying noise disturbance stimuli to the new base controller input.
Referring to fig. 8, an embodiment of the invention provides a computer terminal device, which includes one or more processors and a memory. A memory is coupled to the processor for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method for automatic tracking of high frequency noise power gain as in any of the embodiments described above.
The processor is used for controlling the overall operation of the computer terminal equipment so as to complete all or part of the steps of the automatic tracking method of the high-frequency noise power gain. The memory is used to store various types of data to support the operation at the computer terminal device, which data may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In an exemplary embodiment, the computer terminal Device may be implemented by one or more Application Specific 1 integrated circuits (AS 1C), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is configured to perform the automatic tracking method of the high frequency noise power gain, and achieve the technical effects consistent with the above method.
In another exemplary embodiment, a computer readable storage medium is also provided, which comprises program instructions, which when executed by a processor, implement the steps of the automatic tracking method of high frequency noise power gain in any of the above embodiments. For example, the computer readable storage medium may be the above-mentioned memory including program instructions executable by the processor of the computer terminal device to perform the above-mentioned automatic tracking method for high frequency noise power gain, and achieve the technical effects consistent with the above-mentioned method.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (2)

1. An automatic tracking system for high frequency noise power gain, comprising:
the improved novel basic controller is used for acquiring a controller input signal and outputting a controller output signal;
the first-order inertial filter is used for acquiring an original value of a noise filtering parameter of the improved novel basic controller and outputting a noise filtering parameter control value and a lead time constant control value;
the advanced-lag observer is used for acquiring the controller output signal and the advanced time constant control value and outputting an observer output signal;
the high-frequency noise power gain calculation module is used for acquiring the controller input signal and the observer output signal and outputting a second high-frequency noise power gain;
the nonlinear deviation integral control module is used for acquiring a preset high-frequency noise power gain setting and the second high-frequency noise power gain and outputting an integral control signal;
a multiplier for acquiring the original values of the integral control signal and the noise filtering parameter, and outputting an inertial lag time constant given to the first-order inertial filter and the lead-lag observer;
the automatic tracking module is used for outputting start-stop signals to the first-order inertia filter and the nonlinear deviation integral control module; the automatic tracking state is indicated when the start-stop signal is 1, and the stop state is indicated when the start-stop signal is 0;
in particular, the amount of the solvent to be used,
the improved novel basic controller comprises an input gain control module, an adder, a first inertia combined filter, a subtracter, a feedback gain control module, a second inertia combined filter, a gain compensation module, a noise filter and a noise filtering parameter selection module;
the output end of the input gain control module is connected with the first addend of the adder;
the input end of the first inertia combination filter is connected with the output end of the adder;
the output end of the first inertia combination filter is connected with the second addend of the adder;
the output end of the adder is connected with the subtracted end of the subtracter;
the output end of the subtracter is connected with the input end of the feedback gain control module;
the output end of the feedback gain control module is connected with the input end of the second inertia combination filter;
the output end of the second inertia combination filter is connected with the subtraction end of the subtracter;
the output end of the subtracter is connected with the input end of the gain compensation module;
the output end of the gain compensation is connected with the input end of the noise filter;
the output end of the noise filtering parameter selection module is connected with the input end of the noise filter;
the input end of the noise filtering parameter selection module is used for acquiring the original value of the noise filtering parameter and the control value of the noise filtering parameter;
the parameter expression of the improved novel basic controller is as follows:
INFC＝KIGCHEI(s)NF(s),
Figure FDA0003620605360000021
Figure FDA0003620605360000022
Figure FDA0003620605360000023
KGC＝1+KFGC,
Figure FDA0003620605360000024
Figure FDA0003620605360000025
wherein INFC(s) is a transfer function of the improved new base controller; kIGCAn efficient integrator gain for the input gain control module; HEI(s) is the transfer function of the high-efficiency integrator; ICFA(s) is a transfer function of the first inertial combination filter; n isICFAIs the order of the first inertial combination filter; t isHEIIs the time constant of the high efficiency integrator; HPLO(s) is the transfer function of the new base controller; kFGCThe gain of the feedback gain control module; k isGCIs the gain of the gain compensation module; ICFB(s) is a transfer function of the second inertial combination filter; n isICFBCombining the order of the filter for the second inertia; t isHPLOTo improve the time constant of the new base controller; NF(s) is the transfer function of the noise filter; t isNFPFiltering parameters for noise of the noise filter;
the lead-lag observer comprises a lead unit and an inertial lag unit;
the output end of the leading unit is connected with the input end of the inertial delay unit;
the lead unit is used for acquiring the controller output signal and the lead time constant control value;
the inertial lag unit is used for acquiring the given inertial lag time constant and outputting an observer output signal;
the lead-lag observer comprises a lead unit and an inertial lag unit;
the parameter expression of the lead-lag observer is as follows:
L/L:O(s)＝LL(s)ILL(s),
LL(s)＝1+TLLs,TLL＝LTCCV(t),
Figure FDA0003620605360000031
TILL＝ILTCG(t)
wherein, L/L is O(s) which is a transfer function of the advance-lag observer; LL(s) is the transfer function of the look-ahead unit; t is a unit ofLLIs the lead time constant of the lead unit; ltcc (t) is the lead time constant control value; ILL(s) is the transfer function of the inertial lag unit; t isILLIs the inertial lag time constant of the inertial lag unit;
ILTCG (t) is given as the inertial lag time constant;
the nonlinear deviation integral control module comprises a square root arithmetic unit, a comparator and an integral controller;
the square root operation unit is used for obtaining a preset high-frequency noise power gain and outputting a first square root operation signal to the comparator, and the square root operation unit is also used for obtaining a second high-frequency noise power gain and outputting a second square root operation signal to the comparator;
the comparator is used for acquiring the first square root operation signal and the second square root operation signal and outputting a comparison signal;
the integral controller is used for acquiring the comparison signal and outputting an integral control signal;
the integral controller is also used for acquiring a constant 1 from a TI input end of the integral controller;
the parameter expression of the comparator is as follows:
Figure FDA0003620605360000032
ISG(t)＝SSRO:A(t),
ISF(t)＝SSRO:B(t)
wherein S isC(t) is a comparison signal; ISG(t) is the positive input signal of the comparator; sSRO:A(t) is a first square root operation signal; ISF(t) is the negative terminal input signal of the comparator; sSRO:B(t) is a second square root operation signal; DZCIs the dead zone of the comparator;
the parameter expression of the high-frequency noise power gain calculation module is as follows:
Figure FDA0003620605360000041
Figure FDA0003620605360000042
Figure FDA0003620605360000043
Figure FDA0003620605360000044
OSSO:B(t)＝[OSHPF:B(t)]2,
Figure FDA0003620605360000045
Figure FDA0003620605360000046
Figure FDA0003620605360000047
OSSO:A(t)＝[OSHPF:A(t)]2
wherein HFNPG (t) is the second high frequency noise power gain; l is-1Representing an inverse laplace transform; MVO, B(s), is the transfer function of the average value operation B; HPF, B(s) is the transfer function of the high-pass filter B; OSHPF:B(t) is the high pass filtered B output signal; OSSO:B(t) outputting a signal for square operation B; IS (t) IS an input signal B; MOV (A)(s) is the transfer function of the average value operation A; HPF, A(s) is the transfer function of the high-pass filter A; OSHPF:A(t) is the high pass filtered A output signal; OSSO:A(t) outputting a signal for square operation A; IS (a), (t) IS an input signal A; MVO, A(s) is a transfer function of the average value operation A; OSSO:A(t) outputting a signal for square operation A; IS (a), (t) IS an input signal A; t isMTThe average time length of MVO, B(s), MVO, A(s) is the same; t isHPFIs the high-pass filter time constant common to HPF B(s) and HPF A(s).
2. A method for automatically tracking high frequency noise power gain, comprising:
inputting a controller input signal into the improved novel basic controller to obtain a controller output signal;
inputting the original value of the noise filtering parameter of the improved novel basic controller into a first-order inertia filter to obtain a noise filtering parameter control value and a lead time constant control value;
inputting the controller output signal and the lead time constant control value into a lead-lag observer to obtain an observer output signal;
inputting the controller input signal and the observer output signal to a high-frequency noise power gain calculation module to obtain a second high-frequency noise power gain;
inputting a preset high-frequency noise power gain setting and the second high-frequency noise power gain into a nonlinear deviation integral control module to obtain an integral control signal; further comprising:
inputting a start-stop signal output by an automatic tracking module into the first-order inertia filter and the nonlinear deviation integral control module; the automatic tracking state is indicated when the start-stop signal is 1, and the stop state is indicated when the start-stop signal is 0;
inputting the integral control signal and the original value of the noise filtering parameter into a multiplier to obtain a given inertia lag time constant;
inputting the inertial lag time constant setpoint to the first order inertial filter and the lead-lag observer;
in particular, the amount of the solvent to be used,
the improved novel basic controller comprises an input gain control module, an adder, a first inertia combined filter, a subtracter, a feedback gain control module, a second inertia combined filter, a gain compensation module, a noise filter and a noise filtering parameter selection module;
the output end of the input gain control module is connected with the first addend of the adder;
the input end of the first inertia combination filter is connected with the output end of the adder;
the output end of the first inertia combination filter is connected with the second addend of the adder;
the output end of the adder is connected with the subtracted end of the subtracter;
the output end of the subtracter is connected with the input end of the feedback gain control module;
the output end of the feedback gain control module is connected with the input end of the second inertia combination filter;
the output end of the second inertia combination filter is connected with the subtracting end of the subtracter;
the output end of the subtracter is connected with the input end of the gain compensation module;
the output end of the gain compensation is connected with the input end of the noise filter;
the output end of the noise filtering parameter selection module is connected with the input end of the noise filter;
the input end of the noise filtering parameter selection module is used for acquiring the original value of the noise filtering parameter and the control value of the noise filtering parameter;
the parameter expression of the improved novel basic controller is as follows:
INFC(s)＝KIGCHEI(s)NF(s)
Figure FDA0003620605360000061
Figure FDA0003620605360000062
Figure FDA0003620605360000063
KGC＝1+KFGC，
Figure FDA0003620605360000064
Figure FDA0003620605360000065
wherein INFC(s) is a transfer function of the improved new base controller; kIGCIs the gain of the input gain control module; HEI(s) is the transfer function of the high-efficiency integrator; ICFA(s) is a transfer function of the first inertial combination filter; n isICFAIs the order of the first inertial combination filter; t isHEIIs the time constant of the high efficiency integrator; HPLO(s) is the transfer function of the new base controller; kFGCThe gain of the feedback gain control module; kGCIs the gain of the gain compensation module; ICFB(s) is the transfer function of the second inertial combination filter; n isICFBCombining the order of the filter for the second inertia; t isHPLOTo improve the time constant of the new base controller; NF(s) is the transfer function of the noise filter; t isNFPFiltering parameters for noise of the noise filter;
the lead-lag observer comprises a lead unit and an inertial lag unit;
the output end of the leading unit is connected with the input end of the inertial delay unit;
the lead unit is used for acquiring the controller output signal and the lead time constant control value;
the inertial lag unit is used for acquiring the given inertial lag time constant and outputting an observer output signal;
the lead-lag observer comprises a lead unit and an inertial lag unit;
the parameter expression of the lead-lag observer is as follows:
L/L:O(s)＝LL(s)ILL(s),
LL(s)＝1+TLLs,TLL＝LTCCV(t),
Figure FDA0003620605360000071
TILL＝ILTCG(t)
wherein, L/L is O(s) which is a transfer function of the advance-lag observer; LL(s) is the transfer function of the look-ahead unit; t isLLIs the lead time constant of the lead unit; ltcc (t) is a lead time constant control value; ILL(s) is the transfer function of the inertial lag unit; t isILLIs the inertial lag time constant of the inertial lag unit;
ILTCG (t) is given as the inertial lag time constant;
the nonlinear deviation integral control module comprises a square root arithmetic unit, a comparator and an integral controller;
the square root operation unit is used for obtaining a preset high-frequency noise power gain and outputting a first square root operation signal to the comparator, and the square root operation unit is also used for obtaining a second high-frequency noise power gain and outputting a second square root operation signal to the comparator;
the comparator is used for acquiring the first square root operation signal and the second square root operation signal and outputting a comparison signal;
the integral controller is used for acquiring the comparison signal and outputting an integral control signal; further comprising: inputting a constant 1 to a TI input of the integral controller;
the parameter expression of the comparator is as follows:
Figure FDA0003620605360000072
ISG(t)＝SSRO:A(t),
ISF(t)＝SSRO:B(t)
wherein S isC(t) is a comparison signal; ISG(t) is the positive input signal of the comparator; sSRO:A(t) is a first square root operation signal; ISF(t) is the negative terminal input signal of the comparator; sSRO:B(t) is a second square root operation signal; DZCIs the dead zone of the comparator;
the parameter expression of the high-frequency noise power gain calculation module is as follows:
Figure FDA0003620605360000081
Figure FDA0003620605360000082
Figure FDA0003620605360000083
Figure FDA0003620605360000084
OSSO:B(t)＝[OSHPF:B(t)]2,
Figure FDA0003620605360000085
Figure FDA0003620605360000086
Figure FDA0003620605360000087
OSSO:A(t)＝[OSHPF:A(t)]2
wherein HFNPG (t) is the second high frequency noise power gain; l is-1Representing an inverse laplace transform; MVO, B(s), is the transfer function of the average value operation B; HPF, B(s) is the transfer function of the high-pass filter B; OSHPF:B(t) is the high pass filtered B output signal; OSSO:B(t) is the output signal of the squaring operation B; IS (t) IS an input signal B; MOV (a)(s) is a transfer function of the average value operation A; HPF A(s) is the transfer function of the high-pass filter A；OSHPF:A(t) is the high pass filtered A output signal; OSSO:A(t) is the output signal of the square operation A; IS (a), (t) IS an input signal A; MVO, A(s) is a transfer function of the average value operation A; OSSO:A(t) is the output signal of the square operation A; IS (a), (t) IS an input signal A; t is a unit ofMTThe average time length of MVO, B(s), MVO, A(s) is the same; t isHPFIs the high-pass filter time constant common to HPF B(s) and HPF A(s).
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