CN1621977A - Dynamic compensation method for distortion measurement in discrete control and control system thereof - Google Patents
Dynamic compensation method for distortion measurement in discrete control and control system thereof Download PDFInfo
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- CN1621977A CN1621977A CN 200410102932 CN200410102932A CN1621977A CN 1621977 A CN1621977 A CN 1621977A CN 200410102932 CN200410102932 CN 200410102932 CN 200410102932 A CN200410102932 A CN 200410102932A CN 1621977 A CN1621977 A CN 1621977A
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Abstract
The present invention discloses dynamic compensation method for measuring distortion in discrete control and the control system. The dynamic compensation method includes re-converting the measuring signal converted into digital signal into analog signal and comparing the obtained analog signal with original analog signal; feeding the deviation signal to one other analog controller with the transfer function the same as that of the controller in the control system for processing to obtain the dynamic compensation signal; and superposing the dynamic compensation signal to the analog signal output from the control system to the execution mechanism to obtain the control signal of the execution mechanism. The control system of the present invention has dynamic compensation loop comprising D/A converter, analog comparator, analog controller and adder, compensates the measuring distortion and raises the dynamic performance of control system.
Description
Technical field
The present invention relates to automation field, relate in particular to the measurement distortion that in a kind of discrete control sampling holder is brought and carry out the method for dynamic compensation and relevant control system.
Background technology
Automatically control can be divided into stepless control and discrete control two big classes, given, feedback signal in the continuous control system all are simulating signals, and the measuring-signal in the discrete control system is handled by computing machine after need being converted to digital signal, and then convert simulating signal, control executing mechanism to.
Computer control system is a discrete control system, has absolute advantage in the control strategy processor active task of handling many signals and complexity, but when handling quick FEEDBACK CONTROL, the sampling period is dealt with improperly and can cause system stability to descend.Figure 1 shows that the turbine speed regulating loop, velocity measurement plate 16 provides simulation tach signal n
α, the digital quantity tach signal n that process analog to digital converter 17 (also can place in the velocity measurement plate) provides
d, the latter sends into digital comparator 11 and given rotating speed signal n
sRelatively, the signal n of output
s-n
dObtain discrete control signal (n through numerical scale regulator (i.e. 1/ δ among the figure) 12
s-n
d)/δ provides the given simulating signal F of total valve position through digital to analog converter 13 again
s=(n
s-n
d)/δ, control servomotor 14 is regulated the rotating speed of rotor of steam turbo generator 15.
The maintenance of when tach signal is carried out analog to digital conversion, need sampling, as shown in Figure 2, the tach signal value that obtains at each sampled point up-sampling is identical with analog quantity tach signal value, but between two sampled points, the value of digital quantity tach signal is the value that remains last sampled point, like this, when rotation speed change, the digital quantity tach signal value n between two sampled points
dJust with the analog quantity tach signal value n of reality
αDifference, the dynamic measurement error n of formation tach signal
d-n
αFacts have proved that this dynamic error can influence the stability of speed adjusting circuit.Sampling period is long more, influences big more.Adopt MATLAB software to analyze, the result proves that above-mentioned phenomenon exists.
At present, in the automatic control system of generating plant, the sampling period is generally adopted 250ms or 125ms, and when unit during at big electrical network paired running, its stability can satisfy general control needs.But when Turbo-generator Set during at the minor scale power net paired running, the governing system of less stable can cause the fluctuation of speed, causes the mains frequency fluctuation.When unit was unit operation, this influence of fluctuations was bigger, caused unit normally not move.
Improve the stability of the very fast discrete control system of this type of response speed, a method is to improve sample frequency, and as the speed regulating control of above-mentioned steam turbine, in the time of will being made as the 50ms left and right sides sampling period, the stability of system is near regulating continuously.But the raising of a certain partial control system sample frequency can be subjected to the restriction of whole automatic control system sample frequency, because the increase of sample frequency can increase the operand of system greatly.And if only improve the sample frequency of local control system, then need existing configuration software is carried out local modification, or the control strategy of configuration software carried out whole modification, this will bring bigger trouble to engineering practice and technical management.
Summary of the invention
The technical problem to be solved in the present invention provides the dynamic compensation method of measuring distortion in a kind of discrete control, can carry out dynamic compensation to the measurement distortion that sampling produces.
In order to solve the problems of the technologies described above, the invention provides the dynamic compensation method of measuring distortion in a kind of discrete control, be applied to comprise in the Closed Loop Discrete control system of controller, topworks, controlling object, measurement mechanism, analog to digital converter and digital to analog converter formation, may further comprise the steps:
(a) measuring-signal that will be converted to after the digital signal is converted to simulating signal once more, and this simulating signal that will be converted to and original analogue measurement signal compare;
(b) deviation signal that relatively obtains is sent into another analog controller identical and handled, provide dynamic compensation signal with the control system controller transfer function;
(c) this dynamic compensation signal and control system are outputed to the simulating signal stack of topworks, as the control signal of this topworks.
Another technical matters that the present invention will solve provides a kind of control system that can carry out dynamic compensation to measurement distortion in the discrete control.
In order to solve the problems of the technologies described above, the invention provides a kind of control system that can carry out dynamic compensation to measurement distortion in the discrete control, comprise controller, topworks, controlling object, measurement mechanism, the analog to digital converter that is connected with described measurement mechanism and first digital to analog converter that outputs a control signal to described topworks, it is characterized in that:
Also comprise a dynamic compensation loop, this dynamic compensation loop comprises second digital to analog converter, analog comparator, analog controller and the totalizer identical with described controller transfer function, described second digital to analog converter receives from the measuring-signal that is converted to digital signal of described first analog to digital converter output, import described analog comparator after being converted into simulating signal, analog measurement signal with described measurement mechanism output in this analog comparator compares, the deviation signal that obtains obtains dynamic compensation signal after described analog controller is handled, send into the simulating signal stack of described totalizer and described first digital to analog converter output again, provide the control signal of described topworks.
Further, above-mentioned control system also can have following characteristics: described dynamic compensation loop has increased a differential correction loop, after the analog measurement signal Processing of this differential correction loop to input, superpose in a totalizer with the output signal of described analog controller, the signal that obtains is re-used as described dynamic compensation signal output.
As from the foregoing, the present invention is directed in the discrete control and measure the problem that distortion causes the closed-loop control stability decreases, under the situation that does not change sample frequency, dynamic compensation is carried out in the measurement distortion that signal sampling keeps producing, make quick FEEDBACK CONTROL discrete control system realize reaching the effect of stepless control, having improved needs the stability of the control system of response fast.Further, can in the dynamic compensation loop, increase a differential correction loop, further improve the dynamic perfromance of control system.
Description of drawings
Fig. 1 is the block scheme in existing turbine speed discrete adjustment loop.
Fig. 2 samples to analog quantity to keep the synoptic diagram of processing.
Fig. 3 is the block scheme in first embodiment of the invention turbine speed discrete adjustment loop and dynamic compensation loop.
Fig. 4 is the block scheme in second embodiment of the invention turbine speed discrete adjustment loop and dynamic compensation loop.Wherein, the dynamic compensation loop has increased a differentiator.
Embodiment
Be that example illustrates method of the present invention still below with the speed adjusting circuit of steam turbine.
First embodiment
As shown in Figure 3, the regulating loop of present embodiment has increased a dynamic compensation loop on the basis of original controlling unit, is made up of another digital to analog converter 18, analog comparator 19, simulation proportional governor 20 and totalizer 21.Wherein analog comparator 19, simulation proportional governor 20 and totalizer 21 all adopt the mimic channel that simulating signal is handled.
Digital to analog converter 18 in the dynamic compensation loop receives from the tachometric survey signal n that is converted to digital signal of analog to digital converter 17 outputs
d, be converted into input analog comparator 19 after the simulating signal.Another road input of analog comparator 19 is from the analog quantity tach signal n of velocity measurement plate 16 outputs
α, after two paths of signals compared, with both difference signal (n
d-n
α) output to simulation proportional governor 20, the identical transport function of these simulation proportional governor 20 and numerical scale regulator 12 realizations, i.e. 1/ δ among the figure, the dynamic compensation signal (n of its output
d-n
α)/δ is sent to totalizer 21, with the discrete control signal (n of 13 outputs of digital to analog converter in the discrete adjustment loop
s-n
d)/δ is superimposed, the given signal F of the total valve position that obtains
s=(n
s-n
α)/δ.As can be seen, eliminated the dynamic measurement error of tach signal, made the stability of system reach the effect of stepless control through the given signal of total valve position behind the dynamic compensation.
During stable state, n
d=n
α, dynamic compensation signal is 0, the static characteristics of control system still depends on original digital quantity control system.
The above-mentioned dynamic compensation method that adopts at the measurement distortion in discrete control system may be summarized to be following steps:
(a) measuring-signal that will be converted to after the digital signal is converted to simulating signal once more, and this simulating signal that will be converted to and original analogue measurement signal compare;
(b) deviation signal that relatively obtains is sent into another analog controller identical and handled, provide dynamic compensation signal with the control system controller transfer function;
(c) this dynamic compensation signal and control system are outputed to the simulating signal stack of topworks, as the control signal of this topworks.
Therefore, dynamic compensation method of the present invention is on the basis of original control system not being changed, can compensate measuring distortion effectively, be specially adapted to the very fast discrete control system of response speed, can remedy the measurement distortion that has because of the sample frequency deficiency, thus the performance that improves control system antijamming capability especially.
Second embodiment
The control system of present embodiment has just increased a differential correction loop and a totalizer 23 of being made up of analog differentiation device 22 in the dynamic compensation loop of first embodiment, after the analog measurement signal Processing of 22 pairs of inputs of this differentiator, in newly-increased totalizer 23, after the stack, be re-used as dynamic compensation signal output with the signal of simulation proportional governor 20 outputs.
Present embodiment has increased the differential correction loop of a simulation in original discrete control system, can further improve the dynamic property of the very fast control system of response speed.
When specific implementation, velocity measurement plate provides sometimes be discretize tach signal, at this moment the analog to digital converter in the foregoing description 17 should be sampling holder, the variation that this class functional module is cut apart should be considered as the equivalent of the foregoing description.
Should be noted that dynamic compensation method of the present invention and control system can be applied to the similarly discrete control system of other quick FEEDBACK CONTROL fully.
Claims (3)
1, measure the dynamic compensation method of distortion in a kind of discrete control, be applied to comprise in the Closed Loop Discrete control system of controller, topworks, controlling object, measurement mechanism, analog to digital converter and digital to analog converter formation, may further comprise the steps:
(a) measuring-signal that will be converted to after the digital signal is converted to simulating signal once more, and this simulating signal that will be converted to and original analogue measurement signal compare;
(b) deviation signal that relatively obtains is sent into another analog controller identical and handled, provide dynamic compensation signal with the control system controller transfer function;
(c) this dynamic compensation signal and control system are outputed to the simulating signal stack of topworks, as the control signal of this topworks.
2, a kind of control system that can carry out dynamic compensation to measurement distortion in the discrete control, comprise controller, topworks, controlling object, measurement mechanism, the analog to digital converter that is connected with described measurement mechanism and first digital to analog converter that outputs a control signal to described topworks, it is characterized in that:
Also comprise a dynamic compensation loop, this dynamic compensation loop comprises second digital to analog converter, analog comparator, analog controller and the totalizer identical with described controller transfer function, described second digital to analog converter receives from the measuring-signal that is converted to digital signal of described first analog to digital converter output, import described analog comparator after being converted into simulating signal, analog measurement signal with described measurement mechanism output in this analog comparator compares, the deviation signal that obtains obtains dynamic compensation signal after described analog controller is handled, send into the simulating signal stack of described totalizer and described first digital to analog converter output again, provide the control signal of described topworks.
3, control system as claimed in claim 2, it is characterized in that, also comprise a differential correction loop, after the analog measurement signal Processing of this differential correction loop to input, superpose in a totalizer with the output signal of described analog controller, the signal that obtains is re-used as described dynamic compensation signal output.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110780691A (en) * | 2018-07-31 | 2020-02-11 | 台湾积体电路制造股份有限公司 | Control system |
| CN110850773A (en) * | 2019-11-14 | 2020-02-28 | 北京和利时系统工程有限公司 | Signal acquisition method and device, computer storage medium and electronic equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07110147B2 (en) * | 1984-08-27 | 1995-11-22 | 株式会社明電舍 | DC motor speed controller |
| JPH0719162B2 (en) * | 1989-03-17 | 1995-03-06 | 株式会社チノー | Adjuster |
| JPH0538173A (en) * | 1991-07-30 | 1993-02-12 | Juki Corp | Motor controller |
| WO2000044098A1 (en) * | 1999-01-19 | 2000-07-27 | Steensgaard Madsen Jesper | Residue-compensating a / d converter |
| US20020181611A1 (en) * | 2001-06-01 | 2002-12-05 | Lg Electronics Inc. | Analog quadrature modulator (AQM) error compensating apparatus and method |
| JP2004062754A (en) * | 2002-07-31 | 2004-02-26 | Yaskawa Electric Corp | Analog/digital hybrid controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110780691A (en) * | 2018-07-31 | 2020-02-11 | 台湾积体电路制造股份有限公司 | Control system |
| US11209878B2 (en) | 2018-07-31 | 2021-12-28 | Taiwan Semiconductor Manufacturing Co., Ltd. | Discrete time loop based thermal control |
| US11934239B2 (en) | 2018-07-31 | 2024-03-19 | Taiwan Semiconductor Manufacturing Co., Ltd. | Discrete time loop based thermal control |
| CN110850773A (en) * | 2019-11-14 | 2020-02-28 | 北京和利时系统工程有限公司 | Signal acquisition method and device, computer storage medium and electronic equipment |
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| CN100356280C (en) | 2007-12-19 |
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