CN118068874A - Process overshoot suppression method and device for control system - Google Patents
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Abstract
The invention discloses a process overshoot suppression method and device of a control system, which are characterized in that a process given quantity and a process overshoot of process response information are obtained; inputting the process overshoot and the process given quantity into a divider, and outputting a division signal; inputting the division signal and a preset constant to a multiplier end of a multiplier, and outputting a multiplication signal; inputting the multiplication signal to a first sliding window filter and outputting a first filtering signal; inputting the multiplication signal to a second sliding window filter, and outputting a second filtering signal; inputting the first filtering signal to the subtracter end, inputting the second filtering signal to the subtracter end, and outputting the first subtracting signal; inputting a process given quantity to a subtrahend end of the second subtracter, inputting a first subtraction signal to the subtrahend end of the second subtracter, and outputting an actual process given quantity; compared with the prior art, the technical scheme of the invention can improve the control performance of the system and reduce the adjustment time.
Description
Technical Field
The invention relates to the technical field of industrial process control, in particular to a process overshoot suppression method and device for a control system.
Background
In industrial process control practice, in order to improve feedback control performance, an engineering fastest Controller (ENGINEERING FASTEST Controller, EFC) is provided, so that the feedback control performance is remarkably improved; parameters of engineering fastest controllers are commonly obtained based on mathematical optimizations, which may result in some degree of process overshoot, however, in some control systems, process overshoot is not allowed to occur.
In Order to inhibit process overshoot, a simple method is proposed in engineering practice, i.e. a First Order inertia filter (First Order INERTIAL FILTER, FOIF) is connected in series to a process-given end of a control system; this method is called a process overshoot suppression method of the first-order inertial filter.
The process overshoot suppression method of the first-order inertial filter effectively suppresses process overshoot, but has a great adverse effect on the control performance of a control system formed by the engineering fastest controller.
Disclosure of Invention
The invention aims to solve the technical problems that: the process overshoot suppression method and device for the control system can improve the control performance of the system and reduce the adjustment time.
In order to solve the technical problem, the invention provides a process overshoot suppression method of a control system, comprising the following steps:
Acquiring a process given amount and a process overshoot of the process response information;
Inputting the process overshoot to a dividend end of a divider, and inputting the process set quantity to a divisor end of the divider so that the divider outputs a division signal;
inputting the division signal to a multiplicand end of a multiplier, and inputting a preset constant to a multiplier end of the multiplier so that the multiplier outputs a multiplication signal;
inputting the multiplication signal to a first sliding window filter, so that the first sliding window filter outputs a first filtered signal;
Inputting the multiplication signal to a second sliding window filter, so that the second sliding window filter outputs a second filtering signal;
Inputting the first filtered signal to a subtrahend end of a first subtracter, and inputting the second filtered signal to the subtrahend end of the first subtracter so that the first subtracter outputs a first subtracted signal;
the process given amount is input to a subtracted end of a second subtracter, and the first subtraction signal is input to the subtracted end of the second subtracter, so that the second subtracter outputs an actual process given amount.
In one possible implementation, a process first peak time of process response information is acquired, and the first sliding window filter is constructed based on the process first peak time; wherein the first sliding window filter is as follows:
Where f SWF:1(s) is the laplace transfer function of the first sliding window filter; t PFPT is the first peak time of the process in seconds.
In one possible implementation, the second sliding window filter is constructed based on the process first peak time, wherein the second sliding window filter is as follows:
Where f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
The invention also provides a process overshoot suppression device of the control system, which comprises: a divider, a multiplier, a first sliding window filter, a second sliding window filter, a first subtractor and a second subtractor;
The divider is used for receiving a process given quantity and a process overshoot input by the process response information output end, dividing the process given quantity and the process overshoot to obtain a division signal, and inputting the division signal to the output multiplier;
The multiplier is used for multiplying the inputted division signal with a preset constant to obtain a multiplication signal, and inputting the multiplication signal into the first sliding window filter and the second sliding window filter respectively;
The first sliding window filter is used for performing first filtering processing on the input multiplication signal, outputting a first filtering signal and outputting the first filtering signal to a subtracter end of the first subtracter;
the second sliding window filter is configured to perform a second filtering process on the input multiplication signal, output a second filtering signal, and output the second filtering signal to the reduction end of the first subtractor;
The first subtracter is used for carrying out subtraction processing on the input first filtering signal and the second filtering signal to obtain a first subtraction signal, and inputting the first subtraction signal to a subtraction end of the second subtracter;
The second subtracter is used for receiving the process given quantity input by the process response information output end, and performing subtraction processing on the input first subtraction signal and the process given quantity to obtain an actual process given quantity.
In one possible implementation, the expression of the process overshoot suppression device is as follows:
Wherein f NPOS(s) is the Laplacian transfer function of the process overshoot suppression device of the control system; v POV is the process overshoot, the unit is dimensionless; v PGV is a given amount of the process in dimensionless units; f SWF:1(s) is the laplace transfer function of the first sliding window filter; f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
In one possible implementation, the process response information output is connected to the input of the divider, the output of the divider is connected to the input of the multiplier, the output of the multiplier is connected to the input of the first sliding window filter, the output of the first sliding window filter is connected to the decremented end of the first subtractor, the output of the multiplier is connected to the input of the second sliding window filter, the output of the second sliding window filter is connected to the decremented end of the first subtractor, the output of the first subtractor is connected to the subtracted end of the second subtractor, and the process response information output is connected to the decremented end of the second subtractor.
In one possible implementation, the first sliding window filter is constructed based on a process first peak time by acquiring process response information; wherein the first sliding window filter is as follows:
Where f SWF:1(s) is the laplace transfer function of the first sliding window filter; t PFPT is the first peak time of the process in seconds.
In one possible implementation, the second sliding window filter is constructed based on a process first peak time of the process response information by acquiring the process first peak time, wherein the second sliding window filter is as follows:
Where f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
The invention also provides a control system, comprising: the process overshoot suppression device, the feedback unit, the engineering maximum speed proportional-integral controller, the 4-order process and the engineering maximum speed lead observer of the control system according to any one of the above claims;
The output end of the process overshoot suppression device is connected with the first input end of the feedback unit, the output end of the feedback unit is connected with the engineering fastest proportional-integral controller, the output end of the engineering fastest proportional-integral controller is connected with the input end of the 4-order process, the output end of the 4-order process is connected with the input end of the engineering fastest advanced observer, and the output end of the engineering fastest advanced observer is connected with the second input end of the feedback unit to form closed loop feedback;
The process overshoot suppression device is used for executing the process overshoot suppression method of the control system according to any one of the above.
In one possible implementation, the 4-order procedure is as follows:
where f FOP(s) is the Laplacian transfer function of the 4 th order process, T FOP is the time constant of the 4 th order process, in s.
In one possible implementation, the engineering maximum speed proportional-integral controller is as follows:
Wherein f EFPI(s) is the Laplacian transfer function of the engineering fastest proportional-integral controller; k EFPI is proportional gain in dimensionless units; f EFI(s) is the Laplacian transfer function of the engineering fastest integrator; t EFI is the time constant of the engineering fastest integrator, and the unit is seconds; f EFTF(s) is the Laplacian transfer function of the engineering fastest tracking filter; t EFTF is the time constant in seconds over the engineering fastest tracking filter.
In one possible implementation, the engineering fastest lead observer is as follows:
TFOF＝0.1542TEFLO；
Wherein f EFLO(s) is the Laplacian transfer function of the engineering fastest lead observer; t EFLO is the time constant of the engineering fastest leading observer, and the unit is seconds; f EFTF(s) is the Laplacian transfer function of the engineering fastest tracking filter; t EFTF is the time constant of the faster tracking filter than the engineering, and the unit is seconds; f FOF(s); a laplace transfer function that is a first order filter; t FOF is the time constant of the first order filter in seconds.
The invention also provides a terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the method for suppressing process overshoot of the control system according to any one of the above.
The invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program controls equipment where the computer readable storage medium is located to execute the process overshoot suppression method of the control system according to any one of the above.
Compared with the prior art, the method and the device for inhibiting the process overshoot of the control system have the following beneficial effects:
The process overshoot is used as the dividend input of the divider, the given process quantity is used as the divisor input, the divider signal is obtained through the calculation of the divider, and the divider signal can be used for adjusting the parameters of the control system so as to restrain the process overshoot. By adjusting parameters in real time, the control performance of the system can be optimized, so that the control performance is closer to or achieves a desired control effect; the division signal is input into a multiplier and multiplied by a preset constant to obtain a multiplication signal; then, inputting the multiplication signal into two sliding window filters to obtain a first filtering signal and a second filtering signal respectively; the two filtered signals may more accurately reflect the state and response of the system. The system can more accurately sense and respond to the change of the process through processing the filtering signals, so that the control performance is improved; obtaining a given amount of an actual process through subtraction operation by using the first filtering signal and the second filtering signal; by utilizing the information of the filtering signals, the given quantity of the actual process can be calculated more accurately, so that the control performance of the system is improved and the adjustment time is reduced; compared with the prior art, the technical scheme of the invention adjusts the parameters of the control system in real time by utilizing the technologies of a divider, a multiplier, a sliding window filter and the like, optimizes the control performance, acquires more accurate process response information by filtering signals, and further reduces the adjustment time; the system can respond to the control signal more stably, rapidly and accurately, and the control performance of the system is improved.
Drawings
FIG. 1 is a flow chart of one embodiment of a process overshoot suppression method for a control system provided by the present invention;
FIG. 2 is a schematic diagram of an embodiment of a process overshoot suppression device for a control system according to the present invention;
FIG. 3 is a schematic diagram of one embodiment of a control system provided by the present invention;
FIG. 4 is a schematic diagram of a further embodiment of a process overshoot suppression device of a control system;
FIG. 5 is a schematic diagram of a further embodiment of a control system;
FIG. 6 is a simulation result of a control system given a unit step;
FIG. 7 is a schematic diagram of a control system incorporating only one first order inertial filter
FIG. 8 is a schematic diagram of simulation results of a control system provided with a first order inertial filter when the process is given as a first order inertial filtered signal;
Fig. 9 is a schematic diagram of simulation results of a control system provided with an overshoot suppression device when a process is given as a system-given signal.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1, referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a process overshoot suppression method of a control system provided by the present invention, as shown in fig. 1, and the method includes steps 101 to 107, specifically as follows:
step 101: a process-given amount and a process overshoot amount of the process response information are obtained.
In one embodiment, a process set amount and a process overshoot amount of process corresponding information of a control system are acquired, wherein the control system is a boiler main steam pressure control system of a thermal power plant, and the process set amount is a process set amount of the boiler main steam pressure control system of the thermal power plant.
Specifically, in a control system, a process-given quantity refers to a desired or expected control objective; it represents a specific value or state that the system should reach during normal operation; for a boiler main steam pressure control system of a thermal power generating unit, a given process amount is a desired boiler main steam pressure value.
Specifically, the process overshoot refers to the maximum deviation value of the output quantity exceeding a given quantity of the process in the system response process; in a control system, the process overshoot is an important index for measuring the response performance of the system; it reflects the excessive response of the system at the initial stage, i.e. the maximum degree of deviation of the system output before a given amount of the process is reached.
In one embodiment, the process is given by the following:
VPGV；
Where V PGV is a process-given quantity in dimensionless units.
In one embodiment, the process overshoot is as follows:
VPOV；
wherein V POV is the process overshoot, and the unit is dimensionless.
In one embodiment, a process first peak of the process response information is also obtained, where the process first peak is as follows:
TPFPT；
Where T PFPT is the first peak time of the process in seconds.
Specifically, the first peak time in the process refers to the time when the first peak is reached from the initial state in the system response process; it represents the time the system reaches the maximum deviation value from the start response.
Step 102: the process overshoot is input to the dividend end of a divider, and the process setpoint is input to the divisor end of the divider, so that the divider outputs a division signal.
In one embodiment, a process overshoot interface at the process response information output end is connected to the dividend end of the divider to enable the process overshoot to be input into the divider; and connecting a process given interface of the process response information output end with a divisor end of the divider so as to output the process given signal into the divider.
In one embodiment, the divider is configured to calculate a quotient obtained by dividing the process overshoot by the process set amount, and take the quotient as a division signal output by the divider.
In one embodiment, a proportional value representing system performance may be obtained by dividing the process overshoot by the process setpoint; this ratio value can be used to evaluate the performance of the control system in real time; if the output of the divider is close to 1, the system is in an ideal state, and the performance is good; if the output is far from 1, the system is in overshoot or deviation, and the performance is poor; by monitoring the output of the divider, the problems of the control system can be found and diagnosed in time, and subsequent adjustment and improvement are facilitated.
Step 103: and inputting the division signal to a first multiplier end of a multiplier, and inputting a preset constant to a second multiplier end of the multiplier so that the multiplier outputs a multiplication signal.
In one embodiment, the output end of the divider is connected with the first multiplier end of the multiplier, so that the division signal is input into the multiplier; and a preset constant is connected to a second multiplier end of the multiplier, so that the preset constant is input into the multiplier.
Preferably, the preset constant is 2.5.
In an embodiment, the multiplier is configured to calculate a product of the division signal and the preset constant, and take a product result as a multiplication signal output by the multiplier.
Step 104: the multiplication signal is input to a first sliding window filter, so that the first sliding window filter outputs a first filtered signal.
In one embodiment, a process first peak time of process response information is obtained, and the first sliding window filter is constructed based on the process first peak time; wherein the first sliding window filter is as follows:
Where f SWF:1(s) is the laplace transfer function of the first sliding window filter; t PFPT is the first peak time of the process in seconds.
In an embodiment, an output end of the multiplier is connected to an input end of the first sliding window filter, so that a multiplication signal is input into the first sliding window filter, the multiplication signal is converted into a frequency domain expression, namely, a laplace transform of the multiplication signal is expressed as a first input transfer function, the first input transfer function is multiplied by a transfer function of the first sliding window filter, a first transfer function of the whole system is obtained, the first transfer function is converted back to a time domain, and inverse transformation is performed, so that a first filtered signal is obtained.
Step 105: the multiplication signal is input to a second sliding window filter, so that the second sliding window filter outputs a second filtered signal.
In one embodiment, the second sliding window filter is constructed based on the process first peak time, wherein the second sliding window filter is as follows:
Where f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
In an embodiment, an output end of the multiplier is connected to an input end of the second sliding window filter, so that the multiplication signal is input into the second sliding window filter, the multiplication signal is converted into a frequency domain expression, namely, the laplace transform of the multiplication signal is expressed as a second input transfer function, the second input transfer function is multiplied by the transfer function of the second sliding window filter, a second transfer function of the whole system is obtained, the second transfer function is converted back to a time domain, and inverse transformation is performed, so that a second filtered signal is obtained.
Step 106: the first filtered signal is input to a subtrahend end of a first subtracter, and the second filtered signal is input to the subtrahend end of the first subtracter, so that the first subtracter outputs a first subtracted signal.
In an embodiment, after the first filtered signal is obtained, the first filtered signal is further input to a subtracter end of the first subtractor through an output end of the first sliding window filter; and after the second filtering signal is obtained, the second filtering signal is input to the reduction end of the first subtracter through the output end of the second sliding window filter.
In an embodiment, the first subtractor is configured to calculate a first difference value of the first filtered signal subtracted from the second filtered signal, and use the first difference value as a first subtracted signal output by the first subtractor; by means of the first subtracter, measurement and analysis of the difference between the two filtered signals can be achieved, and the rate of change or the amount of difference of the signals can be obtained, which facilitates further analysis and evaluation of the state or performance of the system.
Step 107: the process given amount is input to a subtracted end of a second subtracter, and the first subtraction signal is input to the subtracted end of the second subtracter, so that the second subtracter outputs an actual process given amount.
In one embodiment, the process-given quantity is input to the decremented end of the second subtractor through a process-given interface that outputs the process response information; and after the first subtraction signal is obtained, the first subtraction signal is input to the subtraction end of the second subtracter through the output end of the first subtracter.
In an embodiment, the second subtractor is configured to calculate a second difference value of the process-given quantity minus the first subtraction signal, and to take the second difference value as an actual process-given quantity of the control system.
In an embodiment, the second subtracter is used to correct the deviation of the originally acquired process set-point based on the first subtraction signal by taking the first subtraction signal as the deviation between the actual system state and the expected state, and the purpose of using the second difference value as the actual process set-point of the control system is to realize feedback control of the system so that the system can continuously perform adjustment and correction to achieve the desired control effect.
In an embodiment, using the actual process-given amount for process-given of the control system enables control of a process overshoot of 0.
Embodiment 2 referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a process overshoot suppression device of a control system according to the present invention, and as shown in fig. 2, the device includes a divider 201, a multiplier 202, a first sliding window filter 203, a second sliding window filter 204, a first subtractor 205 and a second subtractor 206, specifically as follows:
The divider 201 is configured to receive a process given amount and a process overshoot input by a process response information output terminal, perform division processing on the process given amount and the process overshoot to obtain a division signal, and input the division signal to the output multiplier 202.
The multiplier 202 is configured to multiply the division signal and a preset constant to obtain a multiplication signal, and input the multiplication signal to the first sliding window filter 203 and the second sliding window filter 204, respectively.
The first sliding window filter 203 is configured to perform a first filtering process on the input multiplication signal, output a first filtered signal, and output the first filtered signal to the subtracter 205 at the subtracter end.
The second sliding window filter 204 is configured to perform a second filtering process on the input multiplication signal, output a second filtered signal, and output the second filtered signal to the subtracter 205.
The first subtractor 205 is configured to perform subtraction processing on the input first filtered signal and the second filtered signal to obtain a first subtracted signal, and input the first subtracted signal to a subtraction end of the second subtractor 206.
The second subtractor 206 is configured to receive the process given amount input by the process response information output terminal, and perform subtraction processing on the input first subtraction signal and the process given amount to obtain an actual process given amount.
In one embodiment, the expression of the process overshoot suppression device is as follows:
Wherein f NPOS(s) is the Laplacian transfer function of the process overshoot suppression device of the control system; v POV is the process overshoot, the unit is dimensionless; v PGV is a given amount of the process in dimensionless units; f SWF:1(s) is the laplace transfer function of the first sliding window filter; f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
In one embodiment, the process response information output end is connected to the input end of the divider 201, the output end of the divider 201 is connected to the input end of the multiplier 202, the output end of the multiplier 202 is connected to the input end of the first sliding window filter 203, the output end of the first sliding window filter 203 is connected to the decremented end of the first subtractor 205, the output end of the multiplier 202 is connected to the input end of the second sliding window filter 204, the output end of the second sliding window filter 204 is connected to the decremented end of the first subtractor 205, the output end of the first subtractor 205 is connected to the subtracted end of the second subtractor 206, and the process response information output end is connected to the decremented end of the second subtractor 206; as shown in FIG. 4, FIG. 4 is a schematic diagram of another embodiment of a process overshoot suppression device for a control system.
In one embodiment, the first sliding window filter is constructed by acquiring a process first peak time of process response information based on the process first peak time, wherein the first sliding window filter is as follows:
Where f SWF:1(s) is the laplace transfer function of the first sliding window filter; t PFPT is the first peak time of the process in seconds.
In one embodiment, the second sliding window filter is constructed based on the process first peak time by acquiring the process first peak time of process response information, wherein the second sliding window filter is as follows:
Where f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the above-described apparatus, which is not described in detail herein.
It should be noted that the above embodiments of the process overshoot suppression device are merely illustrative, and the modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Embodiment 3, referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a control system provided by the present invention, and as shown in fig. 3, the system includes a process overshoot suppression device 301, a feedback unit 302, an engineering fastest proportional-integral controller 303, a 4-order process 304, and an engineering fastest lead observer 305 of the shift control system described in the above embodiment 2, specifically as follows:
The output end of the process overshoot suppression device 301 is connected with the first input end of the feedback unit 302, the output end of the feedback unit 302 is connected with the engineering fastest proportional-integral controller 303, the output end of the engineering fastest proportional-integral controller 303 is connected with the input end of the 4-step process 304, the output end of the 4-step process 304 is connected with the input end of the engineering fastest lead observer 305, and the output end of the engineering fastest lead observer 305 is connected with the second input end of the feedback unit 302 to form closed loop feedback; as shown in fig. 5, fig. 5 is a schematic structural diagram of yet another embodiment of a control system.
In one embodiment, the process overshoot suppression device 301 is configured to perform the process overshoot suppression method of the control system described in the above embodiment 1.
In one embodiment, the 4-stage process is as follows:
where f FOP(s) is the Laplacian transfer function of the 4 th order process, T FOP is the time constant of the 4 th order process, in s.
In one embodiment, the engineering maximum speed proportional-integral controller is as follows:
Wherein f EFPI(s) is the Laplacian transfer function of the engineering fastest proportional-integral controller; k EFPI is proportional gain in dimensionless units; f EFI(s) is the Laplacian transfer function of the engineering fastest integrator; t EFI is the time constant of the engineering fastest integrator, and the unit is seconds; f EFTF(s) is the Laplacian transfer function of the engineering fastest tracking filter; t EFTF is the time constant in seconds over the engineering fastest tracking filter.
In one embodiment, the engineering fastest lead observer is as follows:
TFOF＝0.1542TEFLO；
Wherein f EFLO(s) is the Laplacian transfer function of the engineering fastest lead observer; t EFLO is the time constant of the engineering fastest leading observer, and the unit is seconds; f EFTF(s) is the Laplacian transfer function of the engineering fastest tracking filter; t EFTF is the time constant of the faster tracking filter than the engineering, and the unit is seconds; f FOF(s); a laplace transfer function that is a first order filter; t FOF is the time constant of the first order filter in seconds.
In one embodiment, T FOF＝0.1542TEFLO is set to ensure that the noise power gain of the engineering fastest lead observer is 1, i.e. no noise disturbance is amplified.
In one embodiment, the optimal mathematics are used for setting parameters of the engineering fastest controller, and the parameters of the engineering fastest controller are obtained as follows: t EFLO＝160s,KEFPI＝1.185,TEFI = 227s.
The beneficial effects of a control system provided in this embodiment are illustrated as follows:
Before a control system provided in this embodiment is not adopted, giving a unit step in the process, and obtaining a simulation result, as shown in fig. 6, fig. 6 is a simulation result of the control system given the unit step; in fig. 6, PV NFC (t) is the process output of the control system of the engineering fastest proportional-integral controller, PV PGV (t) is the process output of a given amount of the process, and the control main performance index is obtained, as shown in table 1, table 1 is the control main performance index table at given unit steps.
Table 1:
In order to suppress the process overshoot, a first-order inertial filter is commonly connected in series to a process-given end of a control system in the prior art, so that the first-order inertial filter performs first-order inertial filtering processing on the process-given signal to obtain a process-given signal of the control system, as shown in fig. 7, and fig. 7 is a schematic structural diagram of a control system that is connected to only one first-order inertial filter.
Wherein, the first order inertial filter is as follows:
Wherein f FOIF(s) is the laplace transfer function of the first-order inertial filter; t FOIF is the time constant of the first order inertial filter in milliseconds.
In order to realize process overshoot of 0, setting a parameter T FOIF =115 s, and obtaining simulation results, as shown in fig. 8, fig. 8 is a schematic diagram of simulation results of a control system provided with a first-order inertial filter when a process is given as a first-order inertial filter signal; in fig. 8, the process output of the control system of the PV NFC (t) engineering fastest proportional-integral controller, PV PGV (t), is the process output of a given amount of the actual process, resulting in a control primary performance index, as shown in table 2, table 2 is the control primary performance index table when the process is given as a first order inertia filtered signal.
Table 2:
The control system provided in this embodiment incorporates the process overshoot suppression device 301 described in the above embodiment 2, for executing the process overshoot suppression method of the control system described in the above embodiment 1; according to table 1 above, the process information is obtained as: t PFPT＝387s,VPOV =0.064; given as a unit step signal according to the procedure, V PGV = 1; the simulation results obtained are shown in fig. 9, fig. 9 is a schematic diagram of simulation results of a control system provided with an overshoot suppression device when a process is given as a system given signal, fig. 9, the process output of the control system of the PV NFC (t) engineering fastest proportional-integral controller, PV PGV (t) is the process output of an actual process given amount, and the control main performance index is obtained, as shown in table 3, and table 3 is a control main performance index table when a process is given as a system given signal.
Table 3:
as can be seen from comparing table 3 with table 2, compared with the process overshoot suppression method using the first-order inertial filter, the control system provided in this embodiment adds the process overshoot suppression device 301 described in the above embodiment 2, so as to execute the process overshoot suppression method of the control system described in the above embodiment 1, thereby remarkably improving the control performance of the system and greatly reducing the adjustment time.
On the basis of the embodiment of the process overshoot suppression method of the control system, another embodiment of the present invention provides a process overshoot suppression terminal device of the control system, where the process overshoot suppression terminal device of the control system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the process overshoot suppression method of the control system of any one embodiment of the present invention is implemented.
Illustratively, in this embodiment the computer program may be partitioned into one or more modules, which are stored in the memory and executed by the processor to perform the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in a process overshoot-suppressing terminal device of the control system.
The process overshoot suppression terminal device of the control system can be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The process overshoot suppression terminal device of the control system may include, but is not limited to, a processor, a memory.
The Processor may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the process overshoot-suppressing terminal device of the control system, and which connects the various parts of the process overshoot-suppressing terminal device of the entire control system using various interfaces and lines.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the control system process overshoot suppression terminal device by running or executing the computer program and/or the module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
On the basis of the embodiment of the process overshoot suppression method of the control system, another embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, and when the computer program runs, a device where the storage medium is controlled to execute the process overshoot suppression method of the control system of any one embodiment of the present invention.
In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, where the computer program code may be in a source code form, an object code form, an executable file, or some intermediate form, and so on. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
In summary, the method and the device for suppressing the process overshoot of the control system provided by the invention are used for obtaining the process given quantity and the process overshoot of the process response information; inputting the process overshoot and the process given quantity into a divider, and outputting a division signal; inputting the division signal and a preset constant to a multiplier end of a multiplier, and outputting a multiplication signal; inputting the multiplication signal to a first sliding window filter and outputting a first filtering signal; inputting the multiplication signal to a second sliding window filter, and outputting a second filtering signal; inputting the first filtering signal to the subtracter end, inputting the second filtering signal to the subtracter end, and outputting the first subtracting signal; inputting a process given quantity to a subtrahend end of the second subtracter, inputting a first subtraction signal to the subtrahend end of the second subtracter, and outputting an actual process given quantity; compared with the prior art, the technical scheme of the invention can improve the control performance of the system and reduce the adjustment time.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (12)
1. A process overshoot suppression method for a control system, comprising:
Acquiring a process given amount and a process overshoot of the process response information;
Inputting the process overshoot to a dividend end of a divider, and inputting the process set quantity to a divisor end of the divider so that the divider outputs a division signal;
inputting the division signal to a first multiplier end of a multiplier, and inputting a preset constant to a second multiplier end of the multiplier so that the multiplier outputs a multiplication signal;
inputting the multiplication signal to a first sliding window filter, so that the first sliding window filter outputs a first filtered signal;
Inputting the multiplication signal to a second sliding window filter, so that the second sliding window filter outputs a second filtering signal;
Inputting the first filtered signal to a subtrahend end of a first subtracter, and inputting the second filtered signal to the subtrahend end of the first subtracter so that the first subtracter outputs a first subtracted signal;
the process given amount is input to a subtracted end of a second subtracter, and the first subtraction signal is input to the subtracted end of the second subtracter, so that the second subtracter outputs an actual process given amount.
2. The process overshoot suppression method of a control system of claim 1, wherein a process first peak time for acquiring process response information, said first sliding window filter being constructed based on said process first peak time; wherein the first sliding window filter is as follows:
Where f SWF:1(s) is the laplace transfer function of the first sliding window filter; t PFPT is the first peak time of the process in seconds.
3. The process overshoot suppression method of a control system of claim 2, wherein said second sliding window filter is constructed based on said process first peak time, wherein said second sliding window filter is as follows:
Where f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
4. A process overshoot suppression device for a control system, comprising: a divider, a multiplier, a first sliding window filter, a second sliding window filter, a first subtractor and a second subtractor;
The divider is used for receiving a process given quantity and a process overshoot input by the process response information output end, dividing the process given quantity and the process overshoot to obtain a division signal, and inputting the division signal to the output multiplier;
The multiplier is used for multiplying the inputted division signal with a preset constant to obtain a multiplication signal, and inputting the multiplication signal into the first sliding window filter and the second sliding window filter respectively;
The first sliding window filter is used for performing first filtering processing on the input multiplication signal, outputting a first filtering signal and outputting the first filtering signal to a subtracter end of the first subtracter;
the second sliding window filter is configured to perform a second filtering process on the input multiplication signal, output a second filtering signal, and output the second filtering signal to the reduction end of the first subtractor;
The first subtracter is used for carrying out subtraction processing on the input first filtering signal and the second filtering signal to obtain a first subtraction signal, and inputting the first subtraction signal to a subtraction end of the second subtracter;
The second subtracter is used for receiving the process given quantity input by the process response information output end, and performing subtraction processing on the input first subtraction signal and the process given quantity to obtain an actual process given quantity.
5. The process overshoot suppression device of a control system of claim 4, wherein said process overshoot suppression device has the expression:
Wherein f NPOS(s) is the Laplacian transfer function of the process overshoot suppression device of the control system; v POV is the process overshoot, the unit is dimensionless; v PGV is a given amount of the process in dimensionless units; f SWF:1(s) is the laplace transfer function of the first sliding window filter; f SWF:2(s) is the laplace transfer function of the second sliding window filter; t PFPT is the first peak time of the process in seconds.
6. The process overshoot suppression device of a control system of claim 4, wherein said process response information output terminal is connected to said divider input terminal, said divider output terminal is connected to said multiplier input terminal, said multiplier output terminal is connected to said first sliding window filter input terminal, said first sliding window filter output terminal is connected to said first subtractor reduced number terminal, said multiplier output terminal is connected to said second sliding window filter input terminal, said second sliding window filter output terminal is connected to said first subtractor reduced number terminal, said first subtractor output terminal is connected to said second subtractor subtracted number terminal, and said process response information output terminal is connected to said second subtractor reduced number terminal.
7. A control system, comprising: a process overshoot suppression device for a control system according to any one of claims 4 to 6, a feedback unit, an engineering fastest proportional-integral controller, a 4-step process, and an engineering fastest lead observer;
The output end of the process overshoot suppression device is connected with the first input end of the feedback unit, the output end of the feedback unit is connected with the engineering fastest proportional-integral controller, the output end of the engineering fastest proportional-integral controller is connected with the input end of the 4-order process, the output end of the 4-order process is connected with the input end of the engineering fastest advanced observer, and the output end of the engineering fastest advanced observer is connected with the second input end of the feedback unit to form closed loop feedback;
the process overshoot suppression device for executing the process overshoot suppression method of the control system according to any one of claims 1 to 3.
8. A control system according to claim 7, wherein the 4-step procedure is as follows:
where f FOP(s) is the Laplacian transfer function of the 4 th order process, T FOP is the time constant of the 4 th order process, in s.
9. A control system according to claim 7, wherein the engineering maximum speed proportional-integral controller is as follows:
Wherein f EFPI(s) is the Laplacian transfer function of the engineering fastest proportional-integral controller; k EFPI is proportional gain in dimensionless units; f EFI(s) is the Laplacian transfer function of the engineering fastest integrator; t EFI is the time constant of the engineering fastest integrator, and the unit is seconds; f EFTF(s) is the Laplacian transfer function of the engineering fastest tracking filter; t EFTF is the time constant in seconds over the engineering fastest tracking filter.
10. A control system according to claim 7, wherein the engineering fastest lead observer is as follows:
TFOF＝0.1542TEFLO；
Wherein f EFLO(s) is the Laplacian transfer function of the engineering fastest lead observer; t EFLO is the time constant of the engineering fastest leading observer, and the unit is seconds; f EFTF(s) is the Laplacian transfer function of the engineering fastest tracking filter; t EFTF is the time constant of the faster tracking filter than the engineering, and the unit is seconds; f FOF(s); a laplace transfer function that is a first order filter; t FOF is the time constant of the first order filter in seconds.
11. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a process overshoot suppression method of a control system according to any one of claims 1 to 3 when the computer program is executed.
12. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the method of suppressing process overshoot of the control system according to any one of claims 1 to 3.
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