CN113311708B

CN113311708B - Method and system for tracking high-frequency noise amplitude gain adjustment control strategy parameters

Info

Publication number: CN113311708B
Application number: CN202110579222.3A
Authority: CN
Inventors: 陈锦攀; 赵兵
Original assignee: Guangdong Power Grid Co Ltd; Electric Power Research Institute of Guangdong Power Grid Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Electric Power Research Institute of Guangdong Power Grid Co Ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2022-07-12
Anticipated expiration: 2041-05-26
Also published as: CN113311708A

Abstract

The invention provides a method and a system for tracking high-frequency noise amplitude gain adjustment control strategy parameters, wherein the method comprises the following steps: inputting the original value of the high-order inertial filtering parameter and the control value of the second high-order inertial filtering parameter into a first-order inertial filter to obtain a control value of the high-order inertial filtering parameter; acquiring an input signal of a high-order advanced observer, and inputting the input signal of the high-order advanced observer and a high-order inertial filtering parameter control value into the high-order advanced observer to obtain an output signal of the high-order advanced observer; the input signal of the high-order advanced observer is the reheated steam temperature of the thermal power generating unit. According to the method, the high-frequency noise amplitude gain of the high-order advanced observer is automatically tracked to the preset number of high-frequency noise amplitude gains, and meanwhile, the filtering parameters of the high-order advanced observer are automatically adjusted to a stable value, so that the performance of the high-order advanced observer is controlled in an optimal state.

Description

Method and system for tracking high-frequency noise amplitude gain adjustment control strategy parameters

Technical Field

The invention relates to the technical field of process control of thermal power generating units, in particular to a method and a system for tracking high-frequency noise amplitude and adjusting control strategy parameters in a gain mode.

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. The advanced observation has various forms, such as a Differentiator (D), a Proportional-Derivative (PD) controller, and the like. In practice, the order of the advance observer is improved to obtain better advance observation performance, and the advance observer with the order greater than or equal to 3 is generally called a High order advance observer (HOLO), such as a third order advance observer, a fourth order advance observer, a fifth order advance observer, a sixth order advance observer, a seventh order advance observer, an eighth order advance observer, and the above order advance observers. However, the high-order advanced observer has a problem of noise interference amplification, mainly high-frequency noise interference amplification. When the High-frequency noise interference level is High, for example, the High-frequency noise amplitude gain (HFNAG) is High, serious interference may be caused to the output signal of the High-order advance observer, and even the High-order advance observer may not work normally. In engineering, the problem of online control of high-frequency noise amplitude gain of a high-order advanced observer needs to be solved firstly. To a large extent, the high frequency noise amplitude gain of the high order advance observer represents the noise disturbance level of the high order advance observer.

Disclosure of Invention

In order to solve the problems, the invention provides a method and a system for tracking high-frequency noise amplitude gain adjustment control strategy parameters.

The first aspect of the present invention provides a method for tracking high frequency noise amplitude gain adjustment control strategy parameters, comprising:

acquiring a high-order inertial filtering parameter original value of a high-order advanced observer, and establishing a second high-order advanced observer according to the high-order inertial filtering parameter original value;

acquiring a noise interference signal sent by a noise interference signal source, and inputting the noise interference signal into the second high-order advanced observer as an input signal of the second high-order advanced observer to obtain an output signal of the second high-order advanced observer;

inputting the noise interference signal and the output signal of the second high-order advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second high-order advanced observer;

acquiring a preset high-frequency noise amplitude gain given value, and inputting the preset high-frequency noise amplitude gain given value and the high-frequency noise amplitude gain of the second high-order advanced observer into a nonlinear deviation integral controller to obtain an output signal of the nonlinear deviation integral controller;

inputting the original value of the high-order inertial filtering parameter and the output signal of the nonlinear deviation integral controller into a multiplier to obtain a second high-order inertial filtering parameter control value;

inputting the original value of the high-order inertial filtering parameter and the control value of the second high-order inertial filtering parameter into a first-order inertial filter to obtain a control value of the high-order inertial filtering parameter;

acquiring an input signal of a high-order advanced observer, and inputting the input signal of the high-order advanced observer and the high-order inertial filtering parameter control value into the high-order advanced observer to obtain an output signal of the high-order advanced observer; and the input signal of the high-order advanced observer is the reheated steam temperature of the thermal power generating unit.

Further, the transfer function of the high-order advanced observer is:

wherein HOLO(s) is a transfer function of a high-order advanced observer, HOIIM(s) is a transfer function of a high-order inertial inverse model, and T_HOIIMHOIF(s) is the transfer function of the higher order inertial filter, T_HOIFPThe order is the high-order inertial filtering parameter of the high-order inertial filter, s is a Laplace operator, and n is the order of the high-order advanced observer.

Further, the transfer function of the second high-order advanced observer is:

wherein, HOLO is the transfer function of the second high-order advanced observer, HOIIM is the transfer function of the second high-order inertial inverse model, and T_HOIIM:SIs the time constant of the second higher order inertial inverse model, HOIF is the transfer function of the second higher order inertial filter, T_HOIFP:SAnd taking the filtering parameter of the second high-order inertial filter as s, wherein s is a Laplace operator, and n is the order of a second high-order advanced observer.

Further, the obtaining a preset high-frequency noise amplitude gain given value, and inputting the preset high-frequency noise amplitude gain given value and the high-frequency noise amplitude gain of the second high-order advanced observer into a nonlinear deviation integral controller to obtain an output signal of the nonlinear deviation integral controller includes:

inputting the preset high-frequency noise amplitude gain given value to a first fractional exponential operator to obtain a first fractional exponential operation signal;

inputting the high-frequency noise amplitude gain of the second high-order advanced observer to a second fractional exponential operator to obtain a second fractional exponential operation signal;

inputting the first fractional exponential operation signal and the second fractional exponential operation signal to a comparator to obtain a comparison signal;

and acquiring an output signal of automatic tracking-stopping, inputting the comparison signal, the output signal of automatic tracking-stopping and a constant 1 into an integral-tracking controller to obtain an integral control signal, and taking the integral control signal as an output signal of a nonlinear deviation integral controller.

Further, the transfer function of the first fractional exponent operator and the transfer function of the second fractional exponent operator are:

wherein S is_REO:A(t) is a transfer function of the first fractional exponential operator, HFNAGG is a preset high-frequency noise amplitude gain given value, S_REO:B(t) is the transfer function of a second fractional exponential operator, HFNAG_HOLO:SAnd (t) is the high-frequency noise amplitude gain of the second high-order advanced observer, t is a time value, and m is a fractional exponential operation constant.

Further, the transfer function of the comparator is:

wherein S is_C(t) IS the transfer function of the comparator, IS_G(t) is the input signal at the given end, S_REO:A(t) IS the transfer function of the first fractional exponential operator, IS_F(t) is the feedback input signal, S_REO:B(t) is the transfer function of the second fractional exponential operator, DZ_CFor comparator dead band, t is a time value.

Further, the integration-tracking controller includes: an integration controller and a tracking controller;

the transfer function of the integral controller is:

where IC(s) is the transfer function of the integral controller, T_ICIs the integral time constant of the integral controller, s is the Laplace operator;

the transfer function of the tracking controller is:

wherein S is_IC(t) is the transfer function of the tracking controller, TI is the tracking input of the tracking controller, OTC is the output tracking control of the tracking controller, AT/S is the control output of automatic tracking-stop, S_C(T) is the transfer function of the comparator, T_ICIs the integration time constant of the integration controller, and t is the time value.

Further, the inputting the noise interference signal and the output signal of the second high-order advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second high-order advanced observer includes:

inputting the noise interference signal into a first high-pass filter to obtain a first high-pass filtering value; inputting the first high-pass filtered value to a first absolute value operation unit to obtain a first absolute value; inputting the first absolute value to a first average value operation unit to obtain a first average value;

inputting the output signal of the second high-order advanced observer into a second high-pass filter to obtain a second high-pass filtering value; inputting the second high-pass filter value to a second absolute value operation unit to obtain a second absolute value; inputting the second absolute value to a second average value operation unit to obtain a second average value;

and inputting the first average value and the second average value into a division operation unit to obtain the high-frequency noise amplitude gain of the second high-order advanced observer.

Further, the transfer function of the high frequency noise amplitude gain calculation unit is:

wherein, HFNAG (t) IS the transfer function of the high frequency noise amplitude gain calculation unit, IS: A (t) IS the noise interference signal, HPF: A(s) IS the transfer function of the first high pass filter, OS_HPF:A(t) is a first high-pass filtered value, OS_AVO:A(t) IS the transfer function of the first absolute value arithmetic unit, MVO IS A(s) IS the transfer function of the first average arithmetic unit, IS IS B (t) IS the output signal of the second high-order advanced observer, HPF IS B(s) IS the transfer function of the second high-pass filter, OS_HPF:B(t) is the second high-pass filtered value, OS_AVO:B(T) is the transfer function of the second absolute value arithmetic unit, MVO B(s) is the transfer function of the second average value arithmetic unit, T_MTThe average time value T is the common average time value of MVO, B(s) and MVO, A(s)_HPFIs a common high-pass filtering time constant of HPF, B(s) and HPF, A(s), t is a time value, s is a Laplace operator, L^-1Is inverse Laplace transform, e is natural logarithm.

Further, the transfer function of the noise interference signal source is:

wherein NJSS (t) is a transfer function of a noise interference signal source, rand () is a pseudo-random number function, the output range is 0-32768 integer real numbers,% is a remainder of calculation,% 200 is a remainder of calculation, the output range is 0-200 integer real numbers, 100 is a fixed floating point real number, K is a variable length, and_FPRfor fixed proportional adjustment of gain, fixed K_FPR＝0.01，K_NJSSORAnd outputting the adjusted gain for the noise interference signal source, wherein t is a time value.

The second aspect of the present invention further provides a system for tracking high frequency noise amplitude gain adjustment control strategy parameters, comprising:

the second high-order advanced observer establishing module is used for acquiring a high-order inertial filtering parameter original value of the high-order advanced observer and establishing the second high-order advanced observer according to the high-order inertial filtering parameter original value;

the noise interference module is used for acquiring a noise interference signal sent by a noise interference signal source, inputting the noise interference signal into the second high-order advanced observer as an input signal of the second high-order advanced observer, and obtaining an output signal of the second high-order advanced observer;

the high-frequency noise amplitude gain calculation module is used for inputting the noise interference signal and the output signal of the second high-order advanced observer into a high-frequency noise amplitude gain calculation unit to obtain the high-frequency noise amplitude gain of the second high-order advanced observer;

the nonlinear deviation integral controller operation module is used for acquiring a preset high-frequency noise amplitude gain given value, and inputting the preset high-frequency noise amplitude gain given value and the high-frequency noise amplitude gain of the second high-order advanced observer into the nonlinear deviation integral controller to obtain an output signal of the nonlinear deviation integral controller;

the multiplier operation module is used for inputting the original value of the high-order inertial filtering parameter and the output signal of the nonlinear deviation integral controller into a multiplier to obtain a second high-order inertial filtering parameter control value;

the first-order inertia filter operation module is used for inputting the high-order inertia filter parameter original value and the second high-order inertia filter parameter control value into a first-order inertia filter to obtain a high-order inertia filter parameter control value;

the high-order advanced observer operation module is used for acquiring an input signal of the high-order advanced observer, and inputting the input signal of the high-order advanced observer and the high-order inertial filtering parameter control value into the high-order advanced observer to obtain an output signal of the high-order advanced observer; and the input signal of the high-order advanced observer is the reheated steam temperature of the thermal power generating unit.

Further, the transfer function of the high-order advanced observer is:

wherein HOLO(s) is a transfer function of a high-order advanced observer, HOIIM(s) is a transfer function of a high-order inertial inverse model, and T_HOIIMIs the time constant of the higher-order inertial inverse model, HOIF(s) is the transfer function of the higher-order inertial filter, T_HOIFPThe order is the high-order inertial filtering parameter of the high-order inertial filter, s is a Laplace operator, and n is the order of the high-order advanced observer.

Further, the transfer function of the second high-order advanced observer is:

wherein, HOLO is the transfer function of the second high-order advanced observer, HOIIM is the transfer function of the second high-order inertial inverse model, and T_HOIIM:SIs the time constant of the second higher order inertial inverse model, HOIF is the transfer function of the second higher order inertial filter, T_HOIFP:SIs the filtering parameter of the second higher-order inertial filter, s is Laplace operatorAnd n: s is the order of the second high-order advanced observer.

Further, the operation module of the nonlinear deviation integral controller is further configured to:

Further, the transfer function of the comparator is:

wherein S is_C(t) being a comparatorTransfer function, IS_G(t) is the input signal at the given end, S_REO:A(t) IS the transfer function of the first fractional exponential operator, IS_F(t) is the feedback input signal, S_REO:B(t) is the transfer function of the second fractional exponential operator, DZ_CFor comparator dead band, t is a time value.

the transfer function of the integral controller is:

where IC(s) is the transfer function of the integral controller, T_ICIs the integral time constant of the integral controller, s is the laplacian operator;

the transfer function of the tracking controller is:

wherein S is_IC(t) is the transfer function of the tracking controller, TI is the tracking input of the tracking controller, OTC is the output tracking control of the tracking controller, AT/S is the control output of automatic tracking-stop, S_C(T) is the transfer function of the comparator, T_ICT is the time value for the integration time constant of the integration controller.

Further, the high frequency noise amplitude gain calculation module is further configured to:

wherein, HFNAG (t) IS the transfer function of the high frequency noise amplitude gain calculation unit, IS: A (t) IS the noise interference signal, HPF: A(s) IS the transfer function of the first high pass filter, OS_HPF:A(t) is a first high-pass filtered value, OS_AVO:A(t) IS the transfer function of the first absolute value arithmetic unit, MVO IS A(s) IS the transfer function of the first average arithmetic unit, IS IS B (t) IS the output signal of the second high-order advanced observer, HPF IS B(s) IS the transfer function of the second high-pass filter, OS_HPF:B(t) is the second high-pass filtered value, OS_AVO:B(T) is the transfer function of the second absolute value arithmetic unit, MVO B(s) is the transfer function of the second average value arithmetic unit, T_MTIs the average time value, T, of MVO, B(s) and MVO, A(s) together_HPFIs a common high-pass filtering time constant of HPF, B(s) and HPF, A(s), t is a time value, s is a Laplace operator, L^-1For inverse laplace transform, e is the natural logarithm.

Further, the transfer function of the noise interference signal source is:

wherein NJSS (t) is a transfer function of a noise interference signal source, rand () is a pseudo-random number function, the output range is 0-32768 integer real number,% is remainder, 200 is remainder of 200, the output range is 0-200 integer real number, 100For fixed floating-point real numbers, K_FPRFor fixed proportional adjustment of gain, fixed K_FPR＝0.01，K_NJSSORAnd outputting the adjusted gain for the noise interference signal source, wherein t is a time value.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

the invention provides a method and a system for tracking high-frequency noise amplitude and adjusting control strategy parameters by gain, wherein the method comprises the following steps: acquiring a high-order inertial filtering parameter original value of a high-order advanced observer, and establishing a second high-order advanced observer according to the high-order inertial filtering parameter original value; acquiring a noise interference signal sent by a noise interference signal source, and inputting the noise interference signal into the second high-order advanced observer as an input signal of the second high-order advanced observer to obtain an output signal of the second high-order advanced observer; inputting the noise interference signal and the output signal of the second high-order advanced observer into a high-frequency noise amplitude gain calculation unit to obtain high-frequency noise amplitude gain of the second high-order advanced observer; acquiring a preset high-frequency noise amplitude gain given value, and inputting the preset high-frequency noise amplitude gain given value and the high-frequency noise amplitude gain of the second high-order advanced observer into a nonlinear deviation integral controller to obtain an output signal of the nonlinear deviation integral controller; inputting the original value of the high-order inertial filtering parameter and the output signal of the nonlinear deviation integral controller into a multiplier to obtain a second high-order inertial filtering parameter control value; inputting the original value of the high-order inertial filtering parameter and the control value of the second high-order inertial filtering parameter into a first-order inertial filter to obtain a control value of the high-order inertial filtering parameter; acquiring an input signal of a high-order advanced observer, and inputting the input signal of the high-order advanced observer and the high-order inertial filtering parameter control value into the high-order advanced observer to obtain an output signal of the high-order advanced observer; and the input signal of the high-order advanced observer is the reheated steam temperature of the thermal power generating unit. According to the invention, the high-frequency noise amplitude gain of the high-order advanced observer is automatically tracked to a preset number of high-frequency noise amplitude gains, and meanwhile, the filtering parameter of the high-order advanced observer is automatically adjusted to a steady-state value, so that the performance of the high-order advanced observer is controlled in an optimal state.

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 flow chart of a method for tracking high frequency noise amplitude gain adjustment control strategy parameters according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method for tracking high frequency noise amplitude gain adjustment control strategy parameters according to another embodiment of the present invention;

FIG. 3 is a flow chart of a method for tracking high frequency noise amplitude gain adjustment control strategy parameters according to another embodiment of the present invention;

FIG. 4 is a schematic diagram of a gain adjustment control strategy parameter for tracking high frequency noise amplitude according to an embodiment of the present invention;

FIG. 5 is a diagram of a high-order advanced observer according to an embodiment of the present invention;

fig. 6 is a structural diagram of a second high-order advanced observer according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a nonlinear deviation integral control and feedback process control provided by an embodiment of the present invention;

FIG. 8 is a flow chart of feedback process control quantities and auto-tracking quantities provided by one embodiment of the present invention;

FIG. 9 is a schematic diagram of a source of a noise interference signal according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a high frequency noise amplitude gain calculation provided by an embodiment of the present invention;

fig. 11 is a diagram illustrating a simulation experiment result of a second third-order advanced observer input signal process according to an embodiment of the present invention;

FIG. 12 is a diagram illustrating simulation results of a second third order observer output signal process according to an embodiment of the present invention;

fig. 13 is a diagram illustrating a simulation experiment result of a high-frequency noise amplitude gain process of a second third-order advanced observer according to an embodiment of the present invention;

fig. 14 is a diagram illustrating a simulation experiment result of a second fourth-order inertia filtering parameter control value process according to an embodiment of the present invention;

FIG. 15 is a diagram illustrating simulation experiment results of a fourth order inertial filtering parameter control value process according to an embodiment of the present invention;

FIG. 16 is a diagram of an apparatus for a system for tracking high frequency noise amplitude gain adjustment control strategy parameters according to an embodiment of the present invention;

fig. 17 is a block diagram of an electronic 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 intended 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 and includes any and all possible combinations of one or more of the associated listed items.

A first aspect.

Referring to fig. 1-3, an embodiment of the invention provides a method for tracking high frequency noise amplitude gain adjustment control strategy parameters, including:

s10, acquiring a high-order inertial filtering parameter original value of the high-order advanced observer, and establishing a second high-order advanced observer according to the high-order inertial filtering parameter original value.

Specifically, the transfer function of the high-order advanced observer is:

The transfer function of the second high-order advanced observer is as follows:

wherein, HOLO is the transfer function of the second high-order advanced observer, HOIIM is the transfer function of the second high-order inertial inverse model, and T_HOIIM:SIs the time constant of the second higher order inertial inverse model, HOIF is the transfer function of the second higher order inertial filter, T_HOIFP:SIs the filtering parameter of the second high-order inertial filter, s is Laplace operator, and n is the order of the second high-order advanced observerNext, the process is carried out.

And S20, acquiring a noise interference signal sent by a noise interference signal source, and inputting the noise interference signal into the second high-order advance observer as an input signal of the second high-order advance observer to obtain an output signal of the second high-order advance observer.

And S30, inputting the noise interference signal and the output signal of the second high-order advance observer into a high-frequency noise amplitude gain calculation unit to obtain the high-frequency noise amplitude gain of the second high-order advance observer.

Specifically, the transfer function of the noise interference signal source is:

wherein NJSS (t) is a transfer function of a noise interference signal source, rand () is a pseudo-random number function, the output range is 0-32768 integer real number,% is a remainder, 200 is a remainder of 200, the output range is 0-200 integer real number, 100 is a fixed floating point real number, K is_FPRFor fixed proportional adjustment of gain, fixed K_FPR＝0.01，K_NJSSORAnd outputting the adjusted gain for the noise interference signal source, wherein t is a time value.

In a specific embodiment, the step S30 includes:

s31, inputting the noise interference signal into a first high-pass filter to obtain a first high-pass filtering value; inputting the first high-pass filtered value to a first absolute value operation unit to obtain a first absolute value; and inputting the first absolute value to a first average value operation unit to obtain a first average value.

S32, inputting the output signal of the second high-order advanced observer into a second high-pass filter to obtain a second high-pass filtering value; inputting the second high-pass filter value to a second absolute value operation unit to obtain a second absolute value; and inputting the second absolute value to a second average value operation unit to obtain a second average value.

And S33, inputting the first average value and the second average value into a division operation unit to obtain the high-frequency noise amplitude gain of the second high-order advanced observer.

Specifically, the transfer function of the high-frequency noise amplitude gain calculation unit is:

wherein, HFNAG (t) IS the transfer function of the high frequency noise amplitude gain calculation unit, IS: A (t) IS the noise interference signal, HPF: A(s) IS the transfer function of the first high pass filter, OS_HPF:A(t) is a first high-pass filtered value, OS_AVO:A(t) IS the transfer function of the first absolute value arithmetic unit, MVO IS A(s) IS the transfer function of the first average arithmetic unit, IS IS B (t) IS the output signal of the second high-order advanced observer, HPF IS B(s) IS the transfer function of the second high-pass filter, OS_HPF:B(t) is the second high-pass filtered value, OS_AVO:B(T) is the transfer function of the second absolute value arithmetic unit, MVO B(s) is the transfer function of the second average value arithmetic unit, T_MTThe average time value T is the common average time value of MVO, B(s) and MVO, A(s)_HPFIs a common high-pass filtering time constant of HPF, B(s) and HPF, A(s), t is a time value, s is a Laplace operator, L^-1For inverse laplace transform, e is the natural logarithm.

And S40, acquiring a preset high-frequency noise amplitude gain given value, and inputting the preset high-frequency noise amplitude gain given value and the high-frequency noise amplitude gain of the second high-order advanced observer into a nonlinear deviation integral controller to obtain an output signal of the nonlinear deviation integral controller.

In a specific embodiment, the step S40 includes:

and S41, inputting the preset high-frequency noise amplitude gain given value to a first fractional exponential operator to obtain a first fractional exponential operation signal.

And S42, inputting the high-frequency noise amplitude gain of the second high-order advanced observer to a second fractional exponential operator to obtain a second fractional exponential operation signal.

Specifically, the transfer function of the first fractional exponent operator and the transfer function of the second fractional exponent operator are:

And S43, inputting the first fractional exponential operation signal and the second fractional exponential operation signal into a comparator to obtain a comparison signal.

Specifically, the transfer function of the comparator is:

wherein S is_C(t) IS the transfer function of the comparator, IS_G(t) is the input signal at the given end, S_REO:A(t) IS the transfer function of the first fractional exponential operator, IS_F(t) is the feedback input signal, S_REO:B(t) is the transfer function of the second fractional exponential operator, DZ_CFor comparator dead band, t is the time value.

And S44, acquiring an output signal of automatic tracking-stopping, inputting the comparison signal, the output signal of automatic tracking-stopping and a constant 1 into an integral-tracking controller to obtain an integral control signal, and taking the integral control signal as an output signal of a nonlinear deviation integral controller.

Specifically, the integration-tracking controller includes: an integration controller and a tracking controller;

the transfer function of the integral controller is:

the transfer function of the tracking controller is:

And S50, inputting the original value of the high-order inertial filtering parameter and the output signal of the nonlinear deviation integral controller into a multiplier to obtain a second high-order inertial filtering parameter control value.

And S60, inputting the original value of the high-order inertial filtering parameter and the control value of the second high-order inertial filtering parameter into a first-order inertial filter to obtain a control value of the high-order inertial filtering parameter.

S70, acquiring an input signal of a high-order advanced observer, and inputting the input signal of the high-order advanced observer and the high-order inertial filtering parameter control value into the high-order advanced observer to obtain an output signal of the high-order advanced observer; and the input signal of the high-order advanced observer is the reheated steam temperature of the thermal power generating unit.

According to the invention, the high-frequency noise amplitude gain of the high-order advanced observer is automatically tracked to a preset number of high-frequency noise amplitude gains, and meanwhile, the filtering parameter of the high-order advanced observer is automatically adjusted to a steady-state value, so that the performance of the high-order advanced observer is controlled in an optimal state.

Please refer toReferring to fig. 4, in an embodiment, the present invention provides a method for adjusting a control strategy parameter by tracking a high frequency noise amplitude gain. With HFNAG_HOLO(t) expressing the high-frequency noise amplitude gain process of the high-order advanced observer, wherein the unit is dimensionless.

1. Constructing a feedback process control step:

1) inputting the second high-order advanced observer into a signal process namely IS_HOLO:S(t) IS connected to the IS: A input of said high frequency noise amplitude gain calculation. The second high-order advanced observer input signal, namely OS_HOLO:S(t) IS connected to the IS: B input of said high frequency noise amplitude gain calculation. Obtaining the high-frequency noise amplitude gain process (HFNAG) of the second high-order advanced observer at the output end of the high-frequency noise amplitude gain calculation_HOLO:S(t)。

2) Accessing the given high-frequency noise amplitude gain (HFNAGG) of the preset number to the input end of the fractional exponential operation A, and obtaining a fractional exponential operation A signal process (S) at the output end of the fractional exponential operation A_REO:A(t)。

3) S (t) is connected to the input end of the fractional exponential operation B, and the process of obtaining the fractional exponential operation B signal, namely S, is obtained at the output end of the fractional exponential operation B_REO:B(t)。

4) And connecting the signal process of the fractional exponential operation A to the positive input end of the comparator. And connecting the signal process of the fractional exponential operation B to the negative input end of the comparator. Obtaining a comparison signal process at the output of the comparator, i.e. S_C(t)。

5) The comparison signal process is connected to the input of the integral control. Obtaining said IC control output signal process, i.e. CO, at the output of said integral control_IC(t)。

6) Controlling the IC to output a signal process, namely CO_IC(t) accessing to a first input terminal of the multiplication operation, and accessing to a second input terminal of the multiplication operation the original value of the higher-order inertial filter parameter, namely, HOIFPOV. At the output of the multiplierAnd obtaining the second high-order inertial filtering parameter control value, namely HOIFPCV S (t).

7) Accessing the second higher-order inertial filtering parameter control value process (HOIFPCV: S (T)) to the HOIFPCV: S input end of the second higher-order advanced observer for giving the second higher-order inertial filtering parameter (T)_HOIFP:SI.e. T_HOIFP:S＝HOIFPCV:S(t)。

8) A second higher order inertial filtering parameter control value process, HOIFPCV: S (t), is connected to the input end of the first order inertial filter. Obtaining the high-order inertial filtering parameter control value at the output end of the first-order inertial filter, namely HOIFPCV (t).

9) Accessing the high-order inertial filter parameter control value process (HOIFPCV) (T) to the HOIFPCV input end of the high-order advanced observer for setting the high-order inertial filter parameter (T)_HOIFPFor the high-frequency noise amplitude gain process of the high-order advanced observer, namely HFNAG_HOLO(t) performing automatic tracking control.

2. Auto-track/stop state:

1) setting a stop state, i.e. AT/S is 0, the feedback process control stops working, and the IC controls an output signal process, i.e. CO_IC(t) 1, and said second higher order inertial filtering parameter control value process, i.e. HOIFPCV: s (t) CO_IC(t) HOIFPOV ═ HOIFPOV, and said higher order inertial filtering parameter control value process, hoifpcv (t) ═ HOIFPOV. The second higher-order inertial filtering parameter is T_HOIFP:SHOIFPOV. The higher order inertial filter parameter is T_HOIFP＝HOIFPOV。

2) Setting an automatic tracking state, namely AT/S is equal to 1, starting the control of the feedback process, and setting the control value process of the second high-order inertial filtering parameter, namely HOIFPCV S (t) is equal to CO_IC(t) HOIFPOV, said higher order inertial filtering parameter control value process, HOIFPCV (t), being a first order inertial filtering tracking output to said HOIFPCV: s (t). The second higher-order inertial filtering parameter is T_HOIFP:SHOIFPCV: s (t). The high-order inertial filtering parameter is T_HOIFP＝HOIFPCV(t)。

3. Feedback process control

In the automatic tracking state, namely AT/S is equal to 1, the second high-order inertial filtering parameter T is controlled by the feedback process control by taking the second high-order inertial filtering parameter control value process, namely HOIFPCV S (T), as a control quantity_HOIFP:SBy means of, i.e. T_HOIFP:S(t) obtaining the second high-order advanced observer high-frequency noise amplitude gain process (HFNAG)_HOLO:S(t) controlling the high frequency noise amplitude gain setting (HFNAGG) to be at the preset number; obtaining a control value process of the second high-order inertial filtering parameter, namely HOIFPCV, S (t), by performing first-order inertial filtering tracking on the control value process of the second high-order inertial filtering parameter, namely HOIFPCV (t), and obtaining a high-order noise amplitude gain process of the high-order advanced observer, namely HFNAG (high frequency noise amplitude gain)_HOLO(t) automatically tracking the second high order advanced observer high frequency noise amplitude gain process, HFNAG_HOLO:S(t) of (d). After the feedback process control enters a steady state, finally, the high-frequency noise amplitude gain process of the high-order advanced observer, namely HFNAG_HOLO(t) automatically tracking the predetermined number of high frequency noise amplitude gain settings, HFNAGG.

Due to the instability of noise interference signals, after the feedback process control enters a steady state, the second high-order inertial filtering parameter control value process, namely HOIFPCV: S (t), fluctuates around the Average Value (AV) of the HOIFPCV: S, and the Average value of the HOIFPCV: S (t) is expressed by the HOIFPCV: AV and is in the unit of S. Because the first-order inertial filtering tracking is carried out on the second high-order inertial filtering parameter control value process, namely HOIFPCV: S (t), so that the filtering parameter control value process, namely HOIFPCV (t), is smoother compared with the HOIFPCV: S (t).

4. Automatic tracking/stopping control

Auto tracking/Stop (AT/S), AT/S ═ 0 represents a Stop state, and AT/S ═ 1 represents an Auto tracking state. The control output of [ automatic tracking/stopping ] is directly represented by AT/S and is BOOL variable.

5. Obtaining parameters of a high-order advanced observer

The high-order advanced observer, i.e., the HOLO structure, is shown in fig. 5.

Said HOLO, expressed as

In the formula (1), n represents the order of the high-order advanced observer, and is an integer greater than or equal to 3. HOLO(s) is the transfer function of the HOLO. HOIIM(s) is a transfer function of a High Order Inertial Inverse Model (HOIIM). T is a unit of_HOIIMIs the time constant of the high-order inertial inverse model, and has the unit of s. HOIF(s) is the transfer function of a High Order Inertial Filter (HOIF). T is a unit of_HOIFPThe unit is s for the High Order Inertial Filtering Parameters (HOIFP) of the High order inertial filter.

High Order Inertial Filter Parameter Selection (HOIFPS), expressed as

Wherein, the hoifpso (t) selects an output process for the high-order inertial filtering parameter, and the unit is s. HOIFPOV is the High Order Inertial Filter Parameters Original Value (HOIFPOV) in s. HOIFPCV (t) is a High Order Inertial Filter Parameter Control Value (HOIFPCV) procedure, in units of s. AT/S is [ auto track/stop ] as]And the control output is BOOL variable. T is_HOIFPAnd the unit is s for the high-order inertial filtering parameter.

The decomposition is performed on equation (2) as follows:

1) and connecting the HOIFPOV to a HOIFPOV input end of the HOIFPS.

2) (t) coupling said HOIFPCV to a HOIFPCV input of said HOIFPS.

3) And connecting the AT/S to the HOIFPS input end of the HOIFPS.

4) And obtaining the high-order inertial filtering parameter selection output process, namely, the HOIFPSO (t), at an SO output end (SO) of the HOIFPS.

4) Setting said T with said HOIFPSO (T)_HOIFPI.e. T_HOIFPHoifpso (t). If the AT/S is 0, the T_HOIFPHOIFPOV. If the AT/S is 1, the T_HOIFP＝HOIFPCV(t)。

6. Second high-order advanced observer parallel to high-order advanced observer is constructed

The structure of the second high-order advanced observer (HOLO of second, HOLO: S) is shown in FIG. 6.

S, expressed as

In the formula (1), n: s represents the order of the high-order advanced observer, and is an integer and is greater than or equal to 3. HOLO S (S) is the transfer function of said HOLO S. HOIIM: S (S) is a transfer function of a second higher order inertial inverse model (HOIIM of second, HOIIM: S). T is_HOIIM:SIs the time constant of the second higher order inertial inverse model in s. HOIF: S (S) is a transfer function of a second higher order inertial filter (HOIF of second, HOIF: S). T is a unit of_HOIFP:SThe second higher-order inertial filtering parameter (HOIFP of second, HOIFP: S) of the HOIF: S has a unit of S. HOIFPCV: S (t) is a second High order inertial filter parameter control value of second, HOIFPCV: S process, with dimensionless units.

The second high-order inertial filtering parameter is set as follows:

connecting the HOIFPCV: S (T) to the HOIFPCV: S input end of HOLO: S, namely setting the T by the HOIFPCV: S (T)_HOIFP:SI.e. T_HOIFP:S＝HOIFPCV:S(t)。

7. Non-linear deviation integral control and feedback process control

A schematic diagram of Nonlinear Deviation Integral Control (NDIC) and feedback process control is shown in fig. 7.

Fractional exponential operation A (REO: A) and Fractional exponential operation A (REO: B) are expressed as

Wherein m is a fractional exponential operation constant, belongs to a natural number and is greater than or equal to 1. S_REO:AAnd (t) is a fractional exponential operation A signal process, and the unit is dimensionless. HFNAGG is a preset number of High Frequency Noise Amplitude Gain Given (HFNAGG), and the unit is dimensionless; HFNAG_HOLO:SAnd (t) is the high-frequency noise amplitude gain process of the second high-order advanced observer, and the unit is dimensionless.

The Comparator (C) is expressed as

Wherein S is_CAnd (t) is a comparative signal process, and the unit is dimensionless. IS_GAnd (t) is the input signal process of the given end, and the unit is dimensionless. IS_G(t)＝S_REO:A(t)，S_REO:A(t) the signal process of the fractional exponential operation A; IS_FAnd (t) is the process of inputting signals at the feedback end, and the unit is dimensionless. IS_F(t)＝S_REO:B(t)，S_REO:B(t) the signal process of the fractional exponential operation B; DZ_CIs the comparator Dead Zone (DZ) in dimensionless units.

Integral control is expressed as

Where IC(s) is the transfer function of Integral Control (IC). T is_ICIs the integration time constant of the integration control and has the unit of s.

Tracking control of integral control, expressed as

Wherein S is_ICAnd (t) is the integral control signal process, and the unit is dimensionless. TI is the Tracking Input (TI) of the integral control, and has a dimensionless unit. The OTC is an Output Tracking Control (OTC) of the integral control, and is a boil variable. AT/S is [ auto track/stop ]]And the control output is BOOL variable. S_CAnd (t) is the comparison signal process, and the unit is dimensionless.

The integral control tracking control steps are as follows:

1) a constant 1 is connected to the TI input of the integral 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 S_IC(t) tracking constant 1, i.e. S_IC(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 S_IC(t) is the process for the comparison signal, namely S_CNegative integral of (t). Said integral control signal being S_IC(t) has an initial memory effect, and after OTC is AT/S is 1, S is_IC(t) will vary on a constant 1 basis.

In the comparator dead zone DZ _C0, the feedback control system is expressed as

Wherein, HFNAGC_HOLO:S(s) is a transfer function of a High Frequency Noise Amplitude Gain Control (HFNAGC) of the second higher order advanced observer. Ndic(s) is the transfer function of the nonlinear bias integral control. HFNAGCP_HOLO:S(s) high frequency noise amplitude gain control procedure (H) for the second higher order advanced observerHFNAGCP), which approximates a Nonlinear Proportional System (NPS). BPFG_HOLO:SThe unit is dimensionless, which is the Band Pass Filter Gain (BPFG) of the second high-order advanced observer. BPFB_HOLO:SThe unit is the Band Pass Filter Bandwidth (BPFB) of the second high-order advanced observer, and the unit is rad/s. INB_HOLO:SThe Input noise bandwidth (INFB) of the second high-order advanced observer is in rad/s.

Specifically, the following description is provided: ndic(s) is only one symbol used to express the non-linear deviation integral control transfer function. In practice, the transfer function of the nonlinear deviation integral control is difficult to accurately express.

8. Feedback process control quantity and automatic tracking quantity

The flow of the feedback process control quantity and the automatic tracking quantity is shown in fig. 8.

The feedback process control quantity is expressed as

HOIFPCV:S(t)＝CO_IC(t)HOIFPOV(8)

S (t) is the second high-order inertial filtering parameter control value process, and the unit is s. CO 2_IC(t) the IC controls the output signal process in dimensionless units. HOIFPOV is the original value of the high-order inertial filtering parameter and has the unit of s. The HOIFPCV: S (t) is the feedback process control quantity, and the description is not necessary.

The automatic tracking quantity is expressed as

Wherein FOIF(s) is a transfer function of a First Order Inertial Filter (FOIF). T is a unit of_FOIFIs the time constant of the first order inertial filter in units of s; hoifpcv (t) is the higher order inertial filtering parameter control value in units of s. TI is the tracking input of the first order inertial filter in dimensionless units. HOIFPOV is the high-order inertial filtering parameterOriginal value, in units of s. The OTC is the tracking control of the first order inertial filter and is a BOOL variable. AT/S is [ auto track/stop ]]And the control output is BOOL variable. L is^-1Is the inverse laplace transform. And S (t) is the second high-order inertial filtering parameter control value process with the unit of s. Hoifpcv (t) is the auto-tracking quantity, and the description is not essential.

The first-order inertial filter tracking control steps are as follows:

1) and connecting the original value of the high-order inertial filtering parameter, namely HOIFPOV, into the TI input end of the first-order inertial filter, namely TI ═ HOIFPOV.

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 process, HOIFPCV, S (t) tracks the HOIFPOV, HOIFPCV, S (t) TI, HOIFPOV.

4) If AT/S is 1, OTC is 1, then the first order inertial filter output signal process, HOIFPCV, (t) is a first order inertial filter tracking of the second higher order inertial filter parameter control value process, HOIFPCV, S (t); said hoifpcv (t) has an initial memory effect, after OTC AT/S1 hoifpcv (t) will change on the basis of said HOIFPOV.

9. Noise interference signal source

Fig. 9 shows a schematic diagram of a Noise Jamming Signal Source (NJSS).

Express FIG. 9 as

Wherein NJSS (t) is the noise interference signal source. rand () isPseudo random numberAnd (4) outputting integer real numbers in a range of 0-32768 in a dimensionless unit. % is the remainder (FR), 200 is the remainder of 200, the output range is 0-200 integer real number, and the unit is dimensionless. 100 is a national fixed floating point real number with dimensionless units. K_FPRFor Fixed proportional adjustment (FPR) gain in dimensionless, Fixed K_FPR＝0.01。K_NJSSORThe gain of the Noise jamming signal source output adjustment (NJSSOR) is output for a Noise jamming signal source and has a dimensionless unit.

The decomposition of equation (4) is as follows:

1) obtainingPseudo random numberFunction, expressed as

rand()(11)

Wherein rand () isPseudo random numberAnd (4) outputting integer real numbers in a range of 0-32768 in a dimensionless unit.

2) Will be described inPseudo random numberThe output of the function is connected to the input end of the remainder, and a remainder signal (FRS) is obtained at the output end of the remainder, and is expressed as

FRS(t)＝rand()％200 (12)

Wherein FRS (t) is the remainder signal, the output range is 0-200 integer real number, and the unit is dimensionless. The% 200 is the remainder of the solution 200. rand () is saidPseudo random numberA function.

3) The remainder signal is connected to the input end of a reduced number of a Subtraction Operation (SO), the fixed floating point real number 100 is connected to the input end of the reduced number of the Subtraction operation, and a Subtraction Operation Signal (SOS) expressed as a reduction operation signal is obtained at the output end of the Subtraction operation

SOS(t)＝FRS(t)-100 (13)

Wherein sos (t) is the subtraction signal, the output range is ± 100 floating-point real numbers, and the unit is dimensionless. FRS (t) is the remainder signal.

4) The subtraction signal is connected to the input end of the Fixed proportion regulation, and a Fixed Proportion Regulation Signal (FPRS) is obtained at the output end of the Fixed proportion regulation and expressed as

FPRS(t)＝K_FPRSOS(t) (14)

FPRS (t) is the fixed proportion adjusting signal, and the output range is +/-1 floating point real numberThe units are dimensionless. K_FPRFor the gain adjusted for the fixed ratio, fixed K_FPR0.01. SOS (t) is the subtraction signal.

5) The fixed proportion regulating signal is accessed to the input end of the noise interference signal source output regulation, the noise interference signal source is obtained at the output end of the noise interference signal source output regulation, and the expression is

NJSS(t)＝K_NJSSORFPRS(t) (15)

Wherein, the NJSS (t) is the noise interference signal source and has dimensionless units. K_NJSSORAnd outputting the adjusted gain for the noise interference signal source, wherein the unit is dimensionless. FPRS (t) is the fixed-scale adjustment signal.

10. High frequency noise amplitude gain calculation

Fig. 10 shows a schematic diagram of the calculation of the high-frequency noise amplitude gain.

And obtaining a calculation result of the high-frequency noise amplitude gain of the Input signal B (Input signal of B, IS: B) relative to the Input signal A (Input signal of A, IS: A) through the high-frequency noise amplitude gain calculation, and outputting the high-frequency noise amplitude gain calculation result at the OS output end of the high-frequency noise amplitude gain calculation.

The high frequency noise amplitude gain calculation is expressed as

Wherein, hfnag (t) is the calculation process of the high frequency noise amplitude gain, and the unit is dimensionless; l is^-1Is the inverse laplace transform. MVO B(s) is the transfer function of the Mean value operation B (MVO B). HPF: B(s) is the transfer function of the High pass filter B (HPF: B). OS_HPF:BAnd (t) is the process of outputting signals by the high-pass filtering B, and the unit is dimensionless. OS_AVO:B(t) is the Absolute value operation of B (AVO: B) output signal process, the unit is dimensionless. The unit of IS (B), (t) IS the process of an input signal B and IS dimensionless; MVO A(s) is flatThe transfer function of the Mean operation A (Mean value operation of A, MVO: A). HPF: A(s) is the transfer function of the High pass filter A (HPF: A). OS_HPF:AAnd (t) is the process of outputting the signal by the high-pass filtering A, and the unit is dimensionless. OS_AVO:A(t) is the Absolute value operation A (AVO: A) output signal process, and the unit is dimensionless. A (t) IS the process of the input signal A, and the unit IS dimensionless; MVO A(s) is the transfer function of Mean value operation A (MVO: A). OS_SO:A(t) is the process of Square operation A (SO: A) output signal, and the unit is dimensionless. A (t) IS the process of the input signal A, and the unit IS dimensionless; t is a unit of_MTIs the length of the Mean Time (MT) common to MVO: B(s) and MVO: A(s), in units of s. T is_HPFIs the high-pass filter time constant common to HPF: B(s) and HPF: A(s) in units of s.

Equation (16) is decomposed 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 absolute value operation B.

3) And connecting the output end of the absolute value operation B to the input end of the average value 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 absolute value operation A.

6) And connecting the output end of the absolute value operation A to the input end of the average value 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 amplitude gain calculation process at the output end of the division operation. The high frequency noise amplitude gain calculation process is expressed in units of dimensionless terms by hfnag (t).

8) The high frequency noise amplitude gain calculation process, hfnag (t), is output at the OS output of the high frequency noise amplitude gain calculation.

In one embodiment, the parameters of the higher order advanced observer (i.e., the third order advanced observer) are: n is 3, T_HOIIM95s, 60 s. Accordingly, except for T_HOIFP:SAnd the second third-order advanced observer parameters are as follows: n, s, n, 3, T_HOIIM:S＝T_HOIIM95 s. Setting the fractional exponential operation constant m to be 4; setting K of the noise interference signal source_NJSSOR0.1; setting the average time length of the high-frequency noise amplitude gain calculation, namely T_MT600s, high pass filter time constant, i.e. T_HPF30 s; setting DZ of the comparator_C0.015. Setting T of the integral control_IC900 s; setting T of the first order inertial filtering_FOIF500 s; and setting the high-frequency noise amplitude gain of the preset number to be 2.5.

AT a digital discrete measurement interval of 1S, the automatic tracking state is set starting from the process time t equal to 0S, i.e. AT/S equal to 1. The result of the simulation experiment of the input signal process of the second third-order advanced observer is obtained, and is shown in fig. 11. The result of the simulation experiment of the output signal process of the second third-order advanced observer is shown in fig. 12. A simulation experiment result of the high-frequency noise amplitude gain process of the second third-order advanced observer is obtained, and is shown in fig. 13. A simulation experiment result of the process of obtaining the second fourth-order inertial filtering parameter control value is shown in fig. 14. The simulation experiment result of the process of obtaining the control value of the fourth-order inertial filtering parameter is shown in fig. 15.

As shown in fig. 13, at a given process time t in the range of 0 to 8000s, starting from t 0s, the high-frequency noise amplitude gain of the second third-order lead observer gradually converges to the preset number of high-frequency noise amplitude gains given by 2.5, and finally fluctuates around 2.5; as shown in fig. 14, starting from t-0S, the second high-order inertial filter parameter control value process, HOIFPCV, S (t), gradually decreases from 60S, and finally fluctuates around the average value of the second high-order inertial filter parameter control values, HOIFPCV, S: AV. Wherein, HOIFPCV: S (t) is HOIFPCV: S: AV (28.4) at t-800S-8000S; in fig. 15, the higher order inertial filtering parameter control value, HOIFPCV, (t) is smoother than the second higher order inertial filtering parameter control value process, HOIFPCV: s (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 high-frequency noise amplitude gain of a three-order advanced observer, which are characterized in that a second three-order advanced observer parallel to the three-order advanced observer is constructed, noise interference excitation is applied to an input signal of the second three-order advanced observer through a noise interference signal source, and a high-frequency noise amplitude gain process HFNAG of the second three-order advanced observer is obtained through calculation of the high-frequency noise amplitude gain_HOLO:S(t) of (d). Controlling the second fourth-order inertial filtering parameter T (T) by taking the second fourth-order inertial filtering parameter control value process (HOIFPCV: S (T)) as a control quantity through the feedback process control_HOIFP:SBy means of, i.e. T_HOIFP:S(t), and (g) performing a high frequency noise amplitude gain process (HFNAG) of the second third order advanced observer_HOLO:S(t) controlling the high frequency noise amplitude gain setting HFNAGG at the preset number; obtaining the fourth-order inertial filtering parameter control value process (HOIFPCV) (t) by carrying out first-order inertial filtering tracking on the second fourth-order inertial filtering parameter control value process (HOIFPCV: S (t)), and enabling the third-order advanced observer high-frequency noise amplitude gain process (HFNAG)_HOLO(t) automatically tracking the second third order advanced observer high frequency noise amplitude gain process, HFNAG_HOLO:S(t) of (d). After the feedback process control enters a stable state, finally, the high-frequency noise amplitude gain process of the third-order advanced observer is HFNAG_HOLO(t) automatically tracking the preset number of high frequency noise amplitude gain setting (HFNAGG); the obvious characteristics are that: and automatically tracking the high-frequency noise amplitude gain of the third-order advanced observer to the preset high-frequency noise amplitude gain by automatic tracking control, and controlling the performance of the third-order advanced observer in an optimal state. And the on-line work of the third-order advanced observerThe effect is small, e.g. no noise disturbance excitation needs to be applied to the third order observer input. The invention is also applicable to all other high-order advanced observers with order greater than 2.

A second aspect.

Referring to fig. 16, an embodiment of the invention provides a system for tracking high frequency noise amplitude gain adjustment control strategy parameters, including:

the second high-order advanced observer establishing module 10 is configured to acquire an original value of a high-order inertial filtering parameter of the high-order advanced observer, and establish the second high-order advanced observer according to the original value of the high-order inertial filtering parameter.

Specifically, the transfer function of the high-order advanced observer is:

The transfer function of the second high-order advance observer is as follows:

wherein, HOLO S(s) is a transfer function of a second high-order advanced observer, HOIIM S(s) is a transfer function of a second high-order inertial inverse model, and T_HOIIM:SIs the time constant of the second higher order inertial inverse model, HOIF is the transfer function of the second higher order inertial filter, and T_HOIFP:SAnd taking the filtering parameter of the second high-order inertial filter as s, wherein s is a Laplace operator, and n is the order of a second high-order advanced observer.

And the noise interference module 20 is configured to acquire a noise interference signal sent by a noise interference signal source, and input the noise interference signal to the second high-order advanced observer as an input signal of the second high-order advanced observer to obtain an output signal of the second high-order advanced observer.

Specifically, the transfer function of the noise interference signal source is:

And a high-frequency noise amplitude gain calculation module 30, configured to input the noise interference signal and the output signal of the second high-order advanced observer to a high-frequency noise amplitude gain calculation unit, so as to obtain a high-frequency noise amplitude gain of the second high-order advanced observer.

In a specific embodiment, the high frequency noise amplitude gain calculation module 30 is further configured to:

And the nonlinear deviation integral controller operation module 40 is configured to obtain a preset high-frequency noise amplitude gain given value, and input the preset high-frequency noise amplitude gain given value and the high-frequency noise amplitude gain of the second high-order advanced observer to a nonlinear deviation integral controller to obtain an output signal of the nonlinear deviation integral controller.

In a specific embodiment, the non-linear deviation integral controller operation module 40 is further configured to:

The transfer function of the comparator is:

The integration-tracking controller includes: an integration controller and a tracking controller;

the transfer function of the integral controller is:

the transfer function of the tracking controller is:

And a multiplier operation module 50, configured to input the original value of the high-order inertial filtering parameter and the output signal of the nonlinear deviation integral controller to a multiplier, so as to obtain a second high-order inertial filtering parameter control value.

And a first-order inertia filter operation module 60, configured to input the original value of the high-order inertia filter parameter and the control value of the second high-order inertia filter parameter to the first-order inertia filter by the first-order inertia filter, so as to obtain a control value of the high-order inertia filter parameter.

The high-order advanced observer operation module 70 is configured to obtain an input signal of the high-order advanced observer, and input the input signal of the high-order advanced observer and the high-order inertial filtering parameter control value to the high-order advanced observer to obtain a high-order advanced observer output signal; and the input signal of the high-order advanced observer is the reheated steam temperature of the thermal power generating unit.

In a third aspect.

The present invention provides an electronic device, including:

a processor, a memory, and a bus;

the bus is used for connecting the processor and the memory;

the memory is used for storing operation instructions;

the processor is configured to invoke the operation instruction, and the executable instruction causes the processor to perform an operation corresponding to the method for tracking the high frequency noise amplitude gain adjustment control strategy parameter according to the first aspect of the present application.

In an alternative embodiment, there is provided an electronic apparatus, as shown in fig. 17, an electronic apparatus 5000 shown in fig. 17 including: a processor 5001 and a memory 5003. The processor 5001 and the memory 5003 are coupled, such as via a bus 5002. Optionally, the electronic device 5000 may also include a transceiver 5004. It should be noted that the transceiver 5004 is not limited to one in practical application, and the structure of the electronic device 5000 is not limited to the embodiment of the present application.

The processor 5001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, units, and circuits described in connection with the disclosure. The processor 5001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.

Bus 5002 can include a path that conveys information between the aforementioned components. The bus 5002 may be a PCI bus or EISA bus, etc. The bus 5002 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 17, but this does not mean only one bus or one type of bus.

The memory 5003 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 5003 is used for storing application program codes for executing the present solution, and the execution is controlled by the processor 5001. The processor 5001 is configured to execute application program code stored in the memory 5003 to implement aspects illustrated in any of the method embodiments described previously.

Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like.

And (iv) a fourth aspect.

The present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of tracking high frequency noise amplitude gain adjustment control strategy parameters as presented in the first aspect of the present application.

Yet another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when run on a computer, enables the computer to perform the corresponding content in the aforementioned method embodiments.

Claims

1. A method for tracking high frequency noise amplitude gain adjustment control strategy parameters is characterized by comprising the following steps:

acquiring a high-order inertial filtering parameter original value of a high-order advanced observer, and establishing a second high-order advanced observer according to the high-order inertial filtering parameter original value; the high-order advance observer comprises a high-order inertial inverse model and a high-order inertial filter; the second high-order advanced observer comprises a second high-order inertial inverse model and a second high-order inertial filter; in particular, the amount of the solvent to be used,

the transfer function of the high-order advanced observer is as follows:

wherein HOLO(s) is a transfer function of a high-order advanced observer, HOIIM(s) is a transfer function of a high-order inertial inverse model, and T_HOIIMIs the time constant of the higher-order inertial inverse model, HOIF(s) is the transfer function of the higher-order inertial filter, T_HOIFPThe order is a high-order inertial filtering parameter of a high-order inertial filter, s is a Laplace operator, and n is the order of a high-order advanced observer;

the transfer function of the second high-order advanced observer is as follows:

wherein, HOLO is the transfer function of the second high-order advanced observer, HOIIM is the transfer function of the second high-order inertial inverse model, and T_HOIIM:SIs the time constant of the second higher order inertial inverse model, HOIF is the transfer function of the second higher order inertial filter, T_HOIFP:SThe filtering parameters of the second high-order inertial filter are set as s, the s is a Laplace operator, and the n is the order of a second high-order advanced observer;

2. The method according to claim 1, wherein the obtaining a predetermined high frequency noise amplitude gain set value, inputting the predetermined high frequency noise amplitude gain set value and the high frequency noise amplitude gain of the second high-order advanced observer to a nonlinear deviation integral controller, and obtaining an output signal of the nonlinear deviation integral controller comprises:

3. The method of claim 2, wherein the transfer function of the first fractional exponential operator and the transfer function of the second fractional exponential operator are:

4. A method for tracking high frequency noise amplitude gain adjustment control strategy parameters according to claim 3, wherein the transfer function of said comparator is:

5. The method of tracking high frequency noise amplitude gain adjustment control strategy parameters of claim 4, wherein the integrate-track controller comprises: an integration controller and a tracking controller;

the transfer function of the integral controller is:

the transfer function of the tracking controller is:

6. The method of claim 1, wherein the inputting the noise interference signal and the output signal of the second higher-order advance observer into a hf noise amplitude gain calculation unit to obtain an hf noise amplitude gain of the second higher-order advance observer comprises:

7. The method of claim 6, wherein the transfer function of the high frequency noise amplitude gain calculation unit is:

8. The method of claim 1, wherein the transfer function of the noise interference signal source is:

9. A system for tracking high frequency noise amplitude gain adjustment control strategy parameters, comprising:

the second high-order advanced observer establishing module is used for acquiring a high-order inertial filtering parameter original value of the high-order advanced observer and establishing the second high-order advanced observer according to the high-order inertial filtering parameter original value; wherein the high-order advanced observer comprises a high-order inertial inverse model and a high-order inertial filter; the second high-order advanced observer comprises a second high-order inertial inverse model and a second high-order inertial filter; in particular, the amount of the solvent to be used,

the transfer function of the high-order advanced observer is as follows:

the transfer function of the second high-order advanced observer is as follows:

10. The system for tracking parameters of a high frequency noise amplitude gain adjustment control strategy of claim 9, wherein the non-linear deviation integral controller operation module is further configured to:

11. The system for tracking high frequency noise amplitude gain adjustment control strategy parameters according to claim 10, wherein the transfer function of the first fractional exponential operator and the transfer function of the second fractional exponential operator are:

wherein S is_REO:A(t) is a transfer function of the first fractional exponential operator,HFNAGG is a preset high-frequency noise amplitude gain given value S_REO:B(t) is the transfer function of a second fractional exponential operator, HFNAG_HOLO:SAnd (t) is the high-frequency noise amplitude gain of the second high-order advanced observer, t is a time value, and m is a fractional exponential operation constant.

12. The system for tracking parameters of a high frequency noise amplitude gain adjustment control strategy according to claim 11, wherein the transfer function of the comparator is:

13. The system for tracking high frequency noise amplitude gain adjustment control strategy parameters according to claim 12, wherein said integrate-track controller comprises: an integration controller and a tracking controller;

the transfer function of the integral controller is:

the transfer function of the tracking controller is:

14. The system for tracking parameters of a high frequency noise amplitude gain adjustment control strategy according to claim 9, wherein the high frequency noise amplitude gain calculation module is further configured to:

15. The system for tracking parameters of a high frequency noise amplitude gain adjustment control strategy according to claim 9, wherein the transfer function of the high frequency noise amplitude gain calculation unit is:

wherein, HFNAG (t) IS the transfer function of the high frequency noise amplitude gain calculation unit, IS (A) (t) IS the noise interference signalNumber HPF A(s) is the transfer function of the first high-pass filter, OS_HPF:A(t) is a first high-pass filtered value, OS_AVO:A(t) IS the transfer function of the first absolute value arithmetic unit, MVO IS A(s) IS the transfer function of the first average arithmetic unit, IS IS B (t) IS the output signal of the second high-order advanced observer, HPF IS B(s) IS the transfer function of the second high-pass filter, OS_HPF:B(t) is the second high-pass filtered value, OS_AVO:B(T) is the transfer function of the second absolute value arithmetic unit, MVO B(s) is the transfer function of the second average value arithmetic unit, T_MTThe average time value T is the common average time value of MVO, B(s) and MVO, A(s)_HPFIs a common high-pass filtering time constant of HPF, B(s) and HPF, A(s), t is a time value, s is a Laplace operator, L^-1For inverse laplace transform, e is the natural logarithm.

16. The system for tracking parameters of a high frequency noise amplitude gain adjustment control strategy according to claim 9, wherein the transfer function of the source of the noise interference signal is: