CN114859699B - Design method, device, equipment and medium of acceleration type engineering fastest controller - Google Patents
Design method, device, equipment and medium of acceleration type engineering fastest controller Download PDFInfo
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Abstract
The application discloses a design method, a device, equipment and a medium of an acceleration type engineering fastest controller, wherein the method comprises the following steps: acquiring the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter; generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of process output; adopting a first-order inertial filter to replace a pure hysteresis link in an approximate acceleration type fastest tracking filter to generate an acceleration type engineering fastest tracking filter; constructing an acceleration type engineering fastest integrator by utilizing an acceleration type engineering fastest tracking filter; and constructing an acceleration type engineering fastest controller by utilizing an acceleration type engineering fastest integrator. The application adopts the first-order inertial filter to replace a pure hysteresis link in the approximate acceleration type fastest tracking filter, realizes the engineering of the acceleration type fastest tracking filter, and ensures that the finally obtained acceleration type engineering fastest controller has no accumulated error and higher control precision.
Description
Technical Field
The application relates to the technical field of industrial process control, in particular to a design method, a device, equipment and a medium of an acceleration type engineering fastest controller.
Background
Proportional-Integral-Derivative (PID) controllers are widely used in the field of industrial process control, which drives the development of tremendous industrial productivity. However, the drawbacks of PID control are also apparent, such as low accuracy of dynamic control.
Currently, the prior art has proposed an Engineering Fastest Tracking Filter (EFTF) which is essentially the engineering result of a (zero acceleration) fastest tracking filter (FASTEST TRACKING FILTER, FTF), so-called fastest tracking, i.e. the fastest tracking input or the minimum time of tracking input. So-called FTF engineering, i.e., an engineering approach that approximates FTF. Since the (zero acceleration) fastest integrator (Acceleration fastest integrator, FFI) constructed with FTF has the problem of accumulated error, it is necessary to engineer FTF first and then use it for the construction of the integrator.
However, from the perspective of promoting the development of industrial process control technology, it is not enough to reconstruct the corresponding integrator based on the Engineering Fastest Tracking Filter (EFTF), so the prior art subsequently proposes an Acceleration type fastest tracking filter (accelation FASTEST TRACKING FILTER, AFTF) with constant Acceleration, but the Acceleration type fastest integrator (Acceleration fastest integrator, AFI) constructed based on AFTF also has the problem of accumulated error, and cannot meet the requirement of industrial process control on precision.
Disclosure of Invention
The application aims to provide a design method, a device, equipment and a medium of an Acceleration engineering fastest controller, which are used for obtaining an Acceleration engineering fastest tracking filter (acceletion ENGINEERING FASTEST TRACKING FILTER, AEFTF) by engineering an existing Acceleration engineering fastest tracking filter AFTF, then using AEFTF to construct an Acceleration engineering fastest integrator (acceletion ENGINEERING FASTEST integrator, AEFI), and finally obtaining an Acceleration engineering fastest proportional-integral controller (acceletion ENGINEERING FASTEST pro-port-integral, AEFPI), namely an Acceleration engineering fastest controller (acceletion ENGINEERING FASTEST controller, AEFC), so as to solve the problem of accumulated error of the existing Acceleration engineering fastest integrator AFI and improve control accuracy.
In order to achieve the above object, the present application provides a method for designing an acceleration type engineering fastest controller, comprising:
acquiring the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter;
Generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of process output;
Adopting a first-order inertial filter to replace a pure hysteresis link in an approximate acceleration type fastest tracking filter to generate an acceleration type engineering fastest tracking filter;
constructing an acceleration type engineering fastest integrator by utilizing an acceleration type engineering fastest tracking filter;
and constructing an acceleration type engineering fastest controller by utilizing an acceleration type engineering fastest integrator.
Further, preferably, the acquiring the process output of the transfer function at the unit step input based on the transfer function of the acceleration-type fastest tracking filter includes:
Acquiring a transfer function of an acceleration type fastest tracking filter:
Wherein AFTF is an acceleration type fastest tracking filter, AFTF(s) is a transfer function of AFTF, and T T is a tracking time constant of AFTF; s represents the Laplace operator;
process output of transfer function at unit step input is obtained:
Where PV AFTF (t) is the process output of AFTF at the unit step input; a PV is the acceleration of AFTF at the process output of the unit step input.
Further, preferably, the generating the approximate acceleration type fastest tracking filter according to the output characteristic of the process output by using a cascade pure hysteresis approximation method includes:
Wherein AAFTF is an approximate acceleration type fastest tracking filter, AAFTF(s) is a transfer function of AAFTF, T T is a tracking time constant of AFTF, n is a series number of pure hysteresis links, and l and i are positive integers in a value range of [1, n ].
Further, preferably, the generating the acceleration type engineering fastest tracking filter by using the first-order inertial filter instead of the pure hysteresis in the approximate acceleration type fastest tracking filter includes:
Wherein AEFTF is an acceleration engineering fastest tracking filter, FOIF is a first-order inertial filter, AEFTF(s) is a transfer function of AEFTF, and n is FOIF series stages; FOIF(s) is a FOIF transfer function, T FOIF is an inertial time constant of FOIF; t AEFTF is the tracking time constant of AEFTF.
Further, preferably, the constructing the acceleration type engineering fastest integrator using the acceleration type engineering fastest tracking filter includes:
Where AEFI is the acceleration engineering fastest integrator, AFFI(s) is the transfer function of AEFI, and T AEFI is the time constant of AEFI.
Further, preferably, the constructing the acceleration type engineering fastest controller using the acceleration type engineering fastest integrator includes:
Wherein AEFPI is an acceleration engineering fastest proportional-integral controller, AEFC is an acceleration engineering fastest controller, and AEFPI represents AEFC; AEFPI(s) is the transfer function of AEFPI and K AEFPI is the gain of the cascade proportional control.
Further, preferably, the type of the acceleration type engineering fastest controller used for industrial process control includes industrial process control of a thermal power generating unit; wherein, the process set of the industrial process control of the thermal power generating unit comprises a hot steam temperature process set or a main steam pressure process set.
The application also provides a design device of the acceleration type engineering fastest controller, which comprises:
the process output acquisition unit is used for acquiring the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter;
The approximation unit is used for generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of the process output;
the substitution unit is used for substituting a pure hysteresis link in the approximate acceleration type engineering fastest tracking filter by adopting a first-order inertial filter to generate an acceleration type engineering fastest tracking filter;
An integrator construction unit for constructing an acceleration-type engineering fastest integrator using an acceleration-type engineering fastest tracking filter;
and the controller construction unit is used for constructing the acceleration type engineering fastest controller by utilizing the acceleration type engineering fastest integrator.
The application also provides a terminal device, comprising:
One or more processors;
a memory coupled to the processor for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the method of designing an accelerated engineering fastest controller as described in any of the above.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of designing an accelerated engineering steepest controller as defined in any one of the above.
Compared with the prior art, the application has the beneficial effects that:
The application discloses a design method, a device, equipment and a medium of an acceleration type engineering fastest controller, wherein the method comprises the following steps: acquiring the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter; generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of process output; adopting a first-order inertial filter to replace a pure hysteresis link in an approximate acceleration type fastest tracking filter to generate an acceleration type engineering fastest tracking filter; constructing an acceleration type engineering fastest integrator by utilizing an acceleration type engineering fastest tracking filter; and constructing an acceleration type engineering fastest controller by utilizing an acceleration type engineering fastest integrator.
The design method of the acceleration type engineering fastest controller provided by the embodiment generates an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method; the first-order inertial filter is adopted to replace a pure hysteresis link in the approximate acceleration type fastest tracking filter, so that the engineering of the acceleration type fastest tracking filter is realized, and then the acceleration type engineering fastest tracking filter is used for reconstructing a corresponding integrator and a corresponding reconstruction controller, so that the final acceleration type engineering fastest controller eliminates the problem of accumulated errors, improves the control precision, improves the usability of the controller, and can adapt to the development requirement of industrial process control.
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In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed 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 application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a design method of an acceleration type engineering fastest controller according to an embodiment of the present application;
FIG. 2 provides a graphical representation of the process output of PV AFTF (t) at a unit step input of AFTF in accordance with one embodiment of the present application;
FIG. 3 is a graphical representation of the process output at unit step input for PV AAFTF (t) AAFTF provided in accordance with one embodiment of the present application;
FIG. 4 is a schematic diagram of an acceleration engineering fastest integrator AEFI according to one embodiment of the present application;
FIG. 5 is a schematic diagram of an acceleration engineering fastest proportional-integral controller according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a conventional integrator CI according to an embodiment of the present application;
FIG. 7 is a schematic diagram showing comparison between output characteristics obtained by the acceleration engineering fastest integrator AEFI and the conventional integrator CI with input as unit steps according to one embodiment of the present application;
FIG. 8 is a schematic diagram of a control system for an industrial process according to one embodiment of the present application;
FIG. 9 is a graph showing the comparison of AEFPI and OPI control characteristics provided in one embodiment of the application;
FIG. 10 is a schematic diagram of a control result of an acceleration engineering fastest proportional-integral controller AEFPI according to an embodiment of the present application for a 1000MW thermal power generating unit and a secondary superheated steam temperature control system;
FIG. 11 is a schematic diagram of a design apparatus for an acceleration type engineering fastest controller according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the step numbers used herein are for convenience of description only and are not limiting as to the order in which the steps are performed.
It is to be understood that the terminology used in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification 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 stated 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.
Term interpretation:
PID control: from an observation perspective, P-action, I-action, D-action (conventional differentiators) in PID represent 3 basic observation mechanisms in feedback control, specifically a current observation mechanism of P-action, a constant observation mechanism of I-action, a lead observation mechanism of D-action. From the special approach to constructing the Iaction, daction, the Iaction, daction is based on First order inertial filters (First order INERTIAL FILTER, FOIF). FOIF is a typical exponential tracking filter, so that the I-action and D-action represent an exponential constant observer and an exponential lead observer, and thus the PID control implements an exponential control mechanism.
Referring to fig. 1, an embodiment of the present application provides a design method of an acceleration type engineering fastest controller. As shown in fig. 1, the design method of the acceleration type engineering fastest controller includes steps S10 to S50. The method comprises the following steps:
S10, acquiring process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter.
Specifically, step S10 includes the following:
1.1 Acquiring a transfer function of the acceleration-type fastest tracking filter:
Wherein AFTF is an acceleration type fastest tracking filter, AFTF(s) is a transfer function of AFTF, s represents Laplacian, T T is a tracking time constant of AFTF, and the unit is seconds(s);
1.2 Process output of the transfer function at unit step input is obtained:
Where PV AFTF (t) is the process output of AFTF at the unit step input; t T is the tracking time constant of AFTF, and the unit is s; a PV is the acceleration of AFTF at the process output of the unit step input in units of/s 2.
S20, generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of the process output.
Referring to fig. 2, fig. 2 provides a schematic diagram of the output characteristics of AFTF at the unit step input. As shown in fig. 2, where T T =100 s, at t=t T＝100s,PVAFTF (T) =1.
Further, a cascade pure hysteresis link approximately AFTF is adopted to obtain an approximately acceleration type fastest tracking filter (Approximations AFTF, AAFTF), specifically:
Wherein AAFTF(s) is a transfer function AAFTF, T T is a tracking time constant of AFTF, and the unit is s; n is a pure hysteresis link series number, and the unit is dimensionless; and l and i are positive integers with the value range of [1, n ].
S30, adopting a first-order inertial filter to replace a pure hysteresis link in the approximate acceleration type fastest tracking filter, and generating the acceleration type engineering fastest tracking filter.
In this step, first, the output characteristics of AAFTF at the unit step input are obtained, where the results are obtained at n=16, T T =100 s, as shown in fig. 3.
The first-order inertial filter FOIF is adopted to replace a pure hysteresis link in AATFT, and an acceleration engineering fastest tracking filter AEFTF is obtained, which is:
wherein AEFTF(s) is a transfer function AEFTF, T T is a tracking time constant of AEFTF, and the unit is s; n is the serial series number of the first-order inertial filter FOIF, and the unit is dimensionless; FOIF(s) is a FOIF transfer function, T FOIF is an inertial time constant of FOIF in s; t AEFTF is the tracking time constant of AEFTF in s; t T is the tracking time constant of AFTF in s.
S40, constructing an acceleration type engineering fastest integrator by utilizing an acceleration type engineering fastest tracking filter.
In one embodiment, the structure of the constructed acceleration-type engineering fastest integrator AEFI is shown in fig. 4. The acceleration engineering fastest integrator AEFI specifically comprises:
Wherein AFFI(s) is a transfer function AEFI, T AEFI is a time constant of AEFI, and the unit is s; t AEFTF is the time constant of AEFTF in s; t T is the tracking time constant of AFTF, and the unit is s; n is the series number of first-order inertial filters FOIF in AEFTF in dimensionless units.
S50, constructing an acceleration type engineering fastest controller by utilizing an acceleration type engineering fastest integrator.
In one embodiment, acceleration-type engineering fastest integrator AEFI is used to construct an acceleration-type engineering fastest controller, i.e., acceleration-type engineering fastest proportional-integral controller AEFPI, whose structure is shown in fig. 5.
The acceleration type engineering fastest controller comprises:
wherein AEFPI(s) is a transfer function AEFPI, K AEFPI is gain of cascade proportional control, and the unit is dimensionless; t AEFI is AEFI time constant in s.
The design method of the acceleration type engineering fastest controller provided by the embodiment generates an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method; the first-order inertial filter is adopted to replace a pure hysteresis link in the approximate acceleration type fastest tracking filter, so that the engineering of the acceleration type fastest tracking filter is realized, and then the acceleration type engineering fastest tracking filter is used for reconstructing a corresponding integrator and a corresponding reconstruction controller, so that the final acceleration type engineering fastest controller eliminates the problem of accumulated errors, improves the control precision, improves the usability of the controller, and can adapt to the development requirement of industrial process control.
In one embodiment, the accelerated engineering steepest integrator AEFI of the present application is compared to a conventional integrator (Conventional integrator, CI) to verify its performance. In particular, the method comprises the steps of,
The conventional integrator CI is:
wherein CI(s) is a transfer function of CI, T I is a time constant of CI, and the unit is s; FOIF(s) is a FOIF transfer function, T FOIF is an inertial time constant of FOIF in s.
The structure of CI is shown in fig. 6. The output characteristics of AEFI and CI obtained by the unit steps of input are shown in fig. 7, and PV AEFI (t) is AEFI output and PV CI (t) is CI output. Wherein n=16, t AEFI＝TFOIF =100 s in AEFTF of construction AEFI. As can be seen from fig. 7, at t=70s, PV AEFI (t) is equal to PV CI (t), and after t is greater than 70s, PV AEFI (t) outputs a higher magnitude than PV CI (t). Obviously, the integration effect efficiency of AEFI provided by the embodiment of the application is obviously higher than CI.
In one embodiment, a resulting schematic of a control system for an industrial control process is provided, as shown in FIG. 8. As can be seen from fig. 8, C is a Controller (Controller) and may be an acceleration engineering fastest Proportional-Integral Controller AEFPI, a Proportional-Integral Controller (PI), or the like; the AP is a controlled process (Accusation process, AP);
Further, the proportional-integral controller PI is:
Wherein PI(s) is a transfer function of PI, K P is a proportional gain, and the unit is dimensionless; t I is the integration time constant in s.
As a specific implementation manner, the embodiment is a process control of a thermal power generating unit; the process control process set of the thermal power generating unit comprises overheat steam temperature process set, main steam pressure process set and the like; process outputs such as superheated steam temperature process outputs, main steam pressure process outputs, etc.
Further, the controlled process AP is:
Where AP(s) is the transfer function of the controlled process AP.
The PI parameter adopts an optimal PI (Optimal proportional-integral, OPI) parameter, namely, the OPI parameter obtains a minimum T I value on the premise of a certain phase stability margin, and represents the highest performance observed on a constant value; the OPI parameters given in this example are: phase stability margin=60°, K P＝0.69、TI =366 s.
Further, the parameters of the acceleration-type engineering maximum speed proportional-integral controller AEFPI are as follows: in AEFTF of construction AEFI n=16, k AEFPI＝1,TAEFI =480 s; where given a process of 1, a comparison of AEFPI to the control characteristics of the OPI is obtained, as shown in FIG. 9, with PV AEFPI (t) being the process output of AEFPI control and PV OPI (t) being the process output of OPI control. As can be seen from fig. 9, quantitative analysis results of AEFPI and the characteristics of the OPI control were obtained, as shown in the following table.
Table 1AEFPI is compared with the results of quantitative analysis of OPI controlled characteristics
From the above table, the adjustment time refers to the time for the process to enter less than 5% deviation. Obviously, the AEFC provided by the embodiment of the application significantly improves the regulation performance compared with the OPI.
In a specific embodiment, the acceleration type engineering fastest proportional-integral controller AEFPI is used for controlling a 1000MW thermal power generating unit and a secondary superheated steam temperature control system, wherein the A side secondary superheated steam temperature control system is controlled by AEFPI, the B side secondary superheated steam temperature control system is controlled by PI, and the obtained comparison result is shown in FIG. 10.
As can be seen from FIG. 10, the range of the A-side secondary superheated steam temperature fluctuation 593-603 ℃ and the range of the B-side secondary superheated steam temperature fluctuation 589-606 ℃ are given in the range of the trend of the process. Obviously, compared with PI control, AEFPI control provided by the embodiment of the application obviously improves the control performance of the secondary superheated steam temperature control system.
In summary, compared with the existing integrator and controller, the acceleration engineering fastest integrator and the acceleration engineering fastest controller provided by the embodiments of the present application have significantly improved control performance.
Referring to fig. 11, an embodiment of the present application further provides a design apparatus of an acceleration type engineering fastest controller, including:
A process output obtaining unit 01, configured to obtain a process output of the transfer function at a unit step input based on the transfer function of the acceleration type fastest tracking filter;
an approximation unit 02 for generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis approximation method according to the output characteristics of the process output;
the substitution unit 03 is used for substituting a pure hysteresis link in the approximate acceleration type engineering fastest tracking filter by adopting a first-order inertial filter to generate an acceleration type engineering fastest tracking filter;
An integrator construction unit 04 for constructing an acceleration-type engineering fastest integrator using an acceleration-type engineering fastest tracking filter;
A controller constructing unit 05 for constructing an acceleration type engineering fastest controller using the acceleration type engineering fastest integrator.
In a certain embodiment, the process output obtaining unit 01 is further configured to:
Acquiring a transfer function of an acceleration type fastest tracking filter:
Wherein AFTF is an acceleration type fastest tracking filter, AFTF(s) is a transfer function of AFTF, T T is a tracking time constant of AFTF, and the unit is seconds(s); s represents the Laplace operator;
process output of transfer function at unit step input is obtained:
Where PV AFTF (t) is the process output of AFTF at the unit step input; t T is the tracking time constant of AFTF, and the unit is s; a PV is the acceleration of AFTF at the process output of the unit step input in units of/s 2.
In a certain embodiment, the approximation unit 02 is further configured to:
The approximate acceleration type fastest tracking filter AAFTF is obtained by adopting a cascade pure hysteresis link approximately AFTF, specifically:
Wherein AAFTF(s) is a transfer function AAFTF, T T is a tracking time constant of AFTF, and the unit is s; n is a pure hysteresis link series number, and the unit is dimensionless; and l and i are positive integers with the value range of [1, n ].
In a certain embodiment, the substitution unit 03 is further configured to:
the first-order inertial filter FOIF is adopted to replace a pure hysteresis link in AATFT, and an acceleration engineering fastest tracking filter AEFTF is obtained, which is:
wherein AEFTF(s) is a transfer function AEFTF, T T is a tracking time constant of AEFTF, and the unit is s; n is the serial series number of the first-order inertial filter FOIF, and the unit is dimensionless; FOIF(s) is a FOIF transfer function, T FOIF is an inertial time constant of FOIF in s; t AEFTF is the tracking time constant of AEFTF in s; t T is the tracking time constant of AFTF in s.
In a certain embodiment, the integrator construction unit 04 is further configured to:
The acceleration type engineering fastest integrator is constructed by utilizing an acceleration type engineering fastest tracking filter, and specifically comprises the following steps:
Wherein AFFI(s) is a transfer function AEFI, T AEFI is a time constant of AEFI, and the unit is s; t AEFTF is the time constant of AEFTF in s; t T is the tracking time constant of AFTF, and the unit is s; n is the series number of first-order inertial filters FOIF in AEFTF in dimensionless units.
In a certain embodiment, the controller construction unit 05 is further configured to:
the acceleration type engineering fastest controller is constructed by utilizing an acceleration type engineering fastest integrator, and specifically comprises the following steps:
wherein AEFPI(s) is a transfer function AEFPI, K AEFPI is gain of cascade proportional control, and the unit is dimensionless; t AEFI is AEFI time constant in s.
It can be understood that the design device of the acceleration type engineering fastest controller provided in this embodiment is configured to execute the design method of the acceleration type engineering fastest controller according to any one of the foregoing embodiments, and achieve the same technical effects as the design method of the acceleration type engineering fastest controller can achieve, which will not be further described herein.
Referring to fig. 12, an embodiment of the present application provides a terminal device, including: one or more processors;
a memory coupled to the processor for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for designing an accelerated engineering fastest controller as described above.
The processor is used for controlling the overall operation of the terminal equipment to complete all or part of the steps of the design method of the acceleration type engineering fastest controller. The memory is used to store various types of data to support operation at the terminal device, which may include, for example, instructions for any application or method operating on the 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 (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In an exemplary embodiment, the terminal device may be implemented by one or more application specific integrated circuits (Application Specific a ntegrated Circuit, abbreviated AS 1C), a digital signal Processor (DIGITAL SIGNAL Processor, abbreviated AS DSP), a digital signal processing device (DIGITAL SIGNAL Processing Device, abbreviated AS DSPD), a programmable logic device (Programmable Logic Device, abbreviated AS PLD), a field programmable gate array (Field Programmable GATE ARRAY, abbreviated AS FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, for executing the design method of the accelerated engineering fastest controller according to any one of the above embodiments, and achieving technical effects consistent with the method AS described above.
In another exemplary embodiment, there is also provided a computer-readable storage medium including a computer program which, when executed by a processor, implements the steps of the method of designing an acceleration engineering fastest controller according to any one of the embodiments described above. For example, the computer readable storage medium may be the above memory including the computer program, and the computer program may be executed by the processor of the terminal device to perform the method for designing the acceleration-type engineering fastest controller according to any one of the above embodiments, and achieve the technical effects consistent with the method.
While the foregoing is directed to the preferred embodiments of the present application, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the application, such changes and modifications are also intended to be within the scope of the application.
Claims (7)
1. The design method of the acceleration type engineering fastest controller is characterized by comprising the following steps of:
Acquiring the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter; the process for obtaining the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter comprises the following steps: acquiring a transfer function of an acceleration type fastest tracking filter:
Wherein AFTF is an acceleration type fastest tracking filter, AFTF(s) is a transfer function of AFTF, and T T is a tracking time constant of AFTF; s represents the Laplace operator; process output of transfer function at unit step input is obtained:
Where PV AFTF (t) is the process output of AFTF at the unit step input; a PV is the acceleration of AFTF at the process output of the unit step input;
generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of process output; the method for generating the approximate acceleration type fastest tracking filter by using the cascade pure hysteresis link approximation method according to the output characteristics of the process output comprises the following steps:
Wherein AAFTF is an approximate acceleration type fastest tracking filter, AAFTF(s) is a transfer function of AAFTF, T T is a tracking time constant of AFTF, n is a series number of pure hysteresis links, and l and i are positive integers in a value range of [1, n ];
adopting a first-order inertial filter to replace a pure hysteresis link in an approximate acceleration type fastest tracking filter to generate an acceleration type engineering fastest tracking filter; the adoption of a first-order inertial filter to replace a pure hysteresis link in an approximate acceleration type fastest tracking filter to generate an acceleration type engineering fastest tracking filter comprises the following steps:
Wherein AEFTF is an acceleration engineering fastest tracking filter, FOIF is a first-order inertial filter, AEFTF(s) is a transfer function of AEFTF, and n is FOIF series stages; FOIF(s) is a FOIF transfer function, T FOIF is an inertial time constant of FOIF; t AEFTF is the tracking time constant of AEFTF;
constructing an acceleration type engineering fastest integrator by utilizing an acceleration type engineering fastest tracking filter;
and constructing an acceleration type engineering fastest controller by utilizing an acceleration type engineering fastest integrator.
2. The method for designing an acceleration-type engineering fastest controller according to claim 1, wherein the constructing an acceleration-type engineering fastest integrator using an acceleration-type engineering fastest tracking filter includes:
Where AEFI is the acceleration engineering fastest integrator, AEFI(s) is the transfer function of AEFI, and T AEFI is the time constant of AEFI.
3. The method for designing an acceleration-type engineering fastest controller according to claim 2, characterized in that the constructing the acceleration-type engineering fastest controller using the acceleration-type engineering fastest integrator includes:
wherein AEFPI is an acceleration engineering fastest proportional-integral controller, AEFC is an acceleration engineering fastest controller, and AEFPI is AEFC; AEFPI(s) is the transfer function of AEFPI and K AEFPI is the gain of the cascade proportional control.
4. A method of designing an accelerated engineering steepest controller according to claim 3, wherein the type of accelerated engineering steepest controller used for industrial process control includes process control of a thermal power plant; wherein, the process set of the process control of the thermal power generating unit comprises the overheat steam temperature process set or the main steam pressure process set.
5. The design apparatus for an acceleration-type engineering fastest controller applied to the design method for an acceleration-type engineering fastest controller according to any one of claims 1 to 4, characterized by comprising:
the process output acquisition unit is used for acquiring the process output of the transfer function in unit step input based on the transfer function of the acceleration type fastest tracking filter;
The approximation unit is used for generating an approximate acceleration type fastest tracking filter by using a cascade pure hysteresis link approximation method according to the output characteristics of the process output;
the substitution unit is used for substituting a pure hysteresis link in the approximate acceleration type engineering fastest tracking filter by adopting a first-order inertial filter to generate an acceleration type engineering fastest tracking filter;
An integrator construction unit for constructing an acceleration-type engineering fastest integrator using an acceleration-type engineering fastest tracking filter;
and the controller construction unit is used for constructing the acceleration type engineering fastest controller by utilizing the acceleration type engineering fastest integrator.
6. A terminal device, comprising:
One or more processors;
a memory coupled to the processor for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the method of designing an accelerated engineering maximum speed controller as recited in any one of claims 1-4.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method of designing an acceleration engineering fastest controller according to any one of claims 1-4.
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