WO2014063635A1 - 数据采样方法与系统及其在参数辨识中的应用方法与系统 - Google Patents
数据采样方法与系统及其在参数辨识中的应用方法与系统 Download PDFInfo
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- WO2014063635A1 WO2014063635A1 PCT/CN2013/085813 CN2013085813W WO2014063635A1 WO 2014063635 A1 WO2014063635 A1 WO 2014063635A1 CN 2013085813 W CN2013085813 W CN 2013085813W WO 2014063635 A1 WO2014063635 A1 WO 2014063635A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
- H04L25/0262—Arrangements for detecting the data rate of an incoming signal
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
- G06F7/38—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
- G06F7/48—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
- G06F7/52—Multiplying; Dividing
- G06F7/535—Dividing only
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/06—Continuously compensating for, or preventing, undesired influence of physical parameters
- H03M1/0617—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence
- H03M1/0626—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence by filtering
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
- H04L25/06—Dc level restoring means; Bias distortion correction ; Decision circuits providing symbol by symbol detection
- H04L25/068—Dc level restoring means; Bias distortion correction ; Decision circuits providing symbol by symbol detection by sampling faster than the nominal bit rate
Definitions
- the present invention relates to computer application techniques, particularly sampling, parameter identification, and digital control techniques.
- sampling The process of converting analog quantities into digital quantities is called sampling.
- the object of the present invention is to solve the above problems. After being digitally sampled by a stable analog controller and converted to a digital controller, it is still stable and has the same characteristics, and accurate parameters can be identified based on the sampled data.
- the inventor discovered through repeated trials and summaries and theoretical derivation analysis that the cause of the above problems was not caused by the identification algorithm or the digital control method, but by the sampling data; the sampling data problem is not sampling. The result is too slow, but the sampling is too fast; the sampling frequency is not as fast as possible as generally recognized by those skilled in the art, but there is an upper limit of the sampling frequency, and the sampling frequency exceeding the upper limit is caused by a large error in the sampling data.
- the invention provides a data sampling method, which comprises the following steps: 51. Perform analog low-pass filtering on the physical quantity of the electrical signal y to obtain the filtered electrical signal;
- the sampling system has a domain error ⁇ ⁇ ⁇ , and the ⁇ is a truncation error of the sampling system; the truncation error ⁇ of the sampling system is related to the sum, which is half of the resolution of the analog-to-digital converter, and the value is The truncation error of the number of bits is represented in the computer.
- the maximum error ⁇ of the S domain is a maximum error that can be accepted by the S domain determined by the specific application, for example, ⁇ determined by the acceptable error of the zero pole of the application system S domain, or by the application system time domain differential equation
- the acceptable maximum error 0 corresponds to the determined ⁇
- the sampling frequency tends to be high in practical applications, and the upper limit of the sampling frequency is not satisfied. Therefore, the present invention also proposes a second data sampling method, which includes the following step:
- the electrical signal y of the physical quantity is sampled to satisfy the sampling frequency of the Nyquist theorem, and the sampling sequence Y1 is obtained;
- the cutoff frequency of the low pass filtering is, the / c ⁇ 0.5x, to prevent mixing when resampling.
- the error of the S domain can be reduced to a predetermined range ⁇ .
- f sl ⁇ f s ⁇ ⁇ of the first method there may be a contradiction in / s3 ⁇ 4 ⁇ / s , which results in the inability to select the sampling frequency according to f sl ⁇ f s ⁇ ⁇ of the first method.
- the second data sampling method described above that is, low-pass filtering and heavy The sampling method can solve this contradiction. Since in all the poles ⁇ p n ⁇ and zero ⁇ p ra ⁇ , the main pole is the main zero point P.
- m plays a leading role, the higher the frequency, the lower the pole or zero effect, so when the contradiction of / s3 ⁇ 4 ⁇ f sl occurs, the high-frequency pole and zero point are filtered by the low-pass filter, and the sampling frequency is reduced by re-sampling, not only The contradiction can be solved, and the main pole P rn ⁇ P main zero point P can also be guaranteed.
- the accuracy of m where the main pole or the main zero is the pole or zero near the origin on the S domain.
- the invention also proposes a data sampling system comprising:
- a sampling unit for sampling the physical quantity of the electrical signal y to satisfy the sampling frequency of the Nyquist theorem to obtain a sampling sequence Y1;
- a low-pass filter for digitally low-pass filtering the sample sequence Y1 to obtain a filtered sample sequence ⁇ ' J Y2;
- a resampling unit for resampling the filtered sample sequence Y2 to obtain a sample sequence Y;
- ⁇ is a domain of the sampling system Error, which is the maximum error of the S domain;
- the cutoff frequency of the low pass filter is , y ⁇ o. 5x, to prevent mixing when resampling.
- Digital sampling is used for measurement or for identification parameter or digital control.
- Parameters include static parameters and dynamic parameters, static parameters are the coefficients of system equations, and dynamic parameters are system differential equations.
- static parameters refer to the admittance matrix of the power flow equation, that is, the resistance, reactance, and susceptance of components such as transformers, wires, and generators.
- the dynamic parameters refer to the excitation time constant, the time constant of the speed regulation, and the time constant of the rotor.
- a parameter identification method using the above two data sampling methods characterized in that it further comprises steps S5, comprising performing a dynamic parameter identification step S51 and/or a static parameter identification step S52 according to the sampling sequence Y.
- the step S51 of the dynamic parameter identification includes, according to the sampling sequence Y, the step S511 of identifying the order and parameters of the ARMAX model by using the identification method in the adaptive control, or the step S512 of identifying the parameter by the reference model method, or Kalman Step S513 of the filter identification parameter.
- the static parameter identification step S52 includes a step S521 of first calculating a steady state value for the sampling sequence Y, and a parameter estimation method, a correlation coefficient method, a linear regression method, a linearizable linear regression method according to the steady state value, Or step S522 of identifying a static parameter by a least square method; and the calculating the steady state value step S521 includes:
- the average value is calculated according to the sampling sequence Y as a steady state value
- the forced component is calculated as the steady state value according to the sampling sequence Y.
- the step S5211 determines that the current sample value is in a steady state process or a transient process according to the t distribution or its binization, or the filter output result; the filter is a Kalman filter or an ⁇ filter. For example, performing Kalman filtering or ⁇ filtering on the sampling sequence to obtain components of the state variable; determining whether each component of the state variable exceeds a corresponding set value; if one component or several components exceeds the set value, It is judged that the current sampling value is in a transient process; otherwise, if it is not exceeded, it is judged that the current sampling value is in a steady state process.
- the Kalman filter is at least 1st order, or higher order, for example, 2nd order, 3rd order, etc., and the invention is not limited.
- the step S5213 calculates the forcing component according to the following steps:
- step S52135 is as follows: ⁇ . + ⁇ ⁇ + ⁇ 2 + ⁇ 3 ⁇ 3 + ⁇ + ⁇ resort ⁇ "Calculate the forcing component, where ⁇ 3 ⁇ 4 , ⁇ , ⁇ ⁇ , ⁇ are in accordance with the derivative formula and the physical quantity y and its derivatives The constant determined by the value.
- the step S52133 determines whether the current value is in a steady state process or a transient process according to the t distribution or its binization, or the filter output result; the filter is a Kalman filter or an ⁇ filter. For example, Kalman filtering or ⁇ filtering is performed on the sampling sequence ⁇ ⁇ to obtain components of the state variable; and it is determined whether each component of the state variable exceeds a corresponding set value; if one component or several components exceeds the set value, Then judge the current value is in the transient process; otherwise, if it is not exceeded, it is judged that the current value is in the steady state process.
- Kalman filtering or ⁇ filtering is performed on the sampling sequence ⁇ ⁇ to obtain components of the state variable; and it is determined whether each component of the state variable exceeds a corresponding set value; if one component or several components exceeds the set value, Then judge the current value is in the transient process; otherwise, if it is not exceeded, it is judged that the current value is in the steady state process.
- the Kalman filter is at least 1st order, or higher order, for example, 2nd order, 3rd order, etc., and the invention is not limited.
- a parameter identification system comprising the above data sampling system, further comprising: a parameter identification unit, configured to perform dynamic parameter identification and/or static parameter identification according to the sampling sequence.
- the parameter identification unit is a dynamic parameter identification unit, configured to identify the order and parameters of the ARMAX model, or the reference model identification parameter according to the sampling sequence ⁇ , using the identification method in the adaptive control, Or the Kalman filter to identify the parameters.
- the parameter identification unit is a static parameter identification unit, including a steady state value calculation unit, configured to calculate a steady state value according to the sampling sequence, and a static parameter estimation unit, configured to use the steady state value according to the steady state value.
- the static parameters are identified by parameter estimation, correlation coefficient method, linear regression method, linear linear regression method, or least squares method.
- the steady state value calculation unit includes:
- the determining unit determines, according to the sampling sequence ⁇ , that the current sampling value is in a steady state process or a transient process according to the t distribution or its binization, or the filter output result;
- the filter is a Kalman filter or an ⁇ filter;
- the steady state unit ⁇ is calculated for calculating the forced component as the steady state value according to the sampling sequence ⁇ when determining that the current sample value is in the transient process.
- the steady state unit B is calculated, including:
- a determining unit configured to receive a data sequence "[ ⁇ , to determine whether the current value is in a transient process or a steady state process
- the data sampling method of the present invention reduces the truncation error in the digital sampling and digital system to the S domain or the time domain by making the sampling frequency satisfy the upper limit of the sampling frequency or reducing the frequency by resampling to meet the upper limit of the sampling frequency.
- the error ensures that the error of the S domain is within the acceptable error range, which makes the digital control stable and meets the needs of specific applications.
- the parameter identification method and system of the present invention can accurately identify the dynamic parameters and the static parameters by using the data sampling method and system as described above, especially after calculating the steady state value and then identifying the static parameters, so that the finally obtained static parameters The parameters are more accurate.
- FIG. 1 is a schematic diagram of a first data sampling method according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of a second data sampling method according to an embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a data sampling system according to an embodiment of the present invention.
- Figure 6 is a diagram showing the zero-order point on the S domain of an application system. detailed description
- Figure 1 is a schematic diagram of the first data sampling method.
- the physical quantity of the electrical signal y is first filtered by the analog low-pass filter 1 and then sampled by the analog-to-digital converter 2 to output a sampling sequence Y.
- the sampling process is controlled by the sampling control signal.
- the frequency/ s of the sampling control signal satisfies: >
- ⁇ is the Z-domain error of the sampling system
- the dish is the maximum error of the S-domain.
- the mathematical description is the differential equation of the time domain; the differential equation of the time domain is transformed by the Laplace transform to the transfer function G(s) on the S domain; it has been proved in the cybernetics that G (s) has a strict correspondence with the differential equations in the time domain, without any distortion, so the error ⁇ of the time domain closely corresponds to the error S of the S domain, so there is an acceptable maximum error ⁇ at the time, which is acceptable.
- the maximum error of the S domain is the differential equation of the time domain.
- the signal is sampled in the time domain analog quantity, and the analog quantity is sampled and converted to obtain the sampled data.
- the time domain is transformed into the ⁇ domain, and the differential equation in the time domain is transformed into the ⁇ domain. Function 3 ⁇ 42).
- a minimum grid is generated, which is customarily called resolution, and half of the resolution is the truncation error ⁇ ; and the number is also represented in the computer, and the truncation error ⁇ is also generated.
- There is an error ⁇ and when the hardware and software of the sampling system used are determined, the system's domain error ⁇ is also determined.
- the number of bits in the ADC of the analog-to-digital converter determines the resolution of the analog-to-digital conversion, resulting in a truncation error of half the resolution.
- the 8-bit ADC has a Sadc of 0.004 and a 10-bit of 0.001.
- the value is in the computer. represented by a binary number, digit binary number also generates truncation error, 8 16-bit binary number is 2x10- 5, single-precision floating-point number is 10-6 8, 8, double precision floating point
- the Z-domain error ⁇ can be analyzed by the truncation error ⁇ .
- the sampling domain has a ⁇ ⁇ ⁇ ⁇
- the ⁇ is the truncation error of the sampling system
- the truncation error ⁇ of the sampling system In relation to ⁇ , the tube can be taken as the smaller of ⁇ ⁇ bcpu , or ⁇ .
- T s is the sampling interval.
- the S-domain grid will become larger and larger.
- Half of the grid is the quantization error, so the error in the S domain will increase.
- the same error analysis method as above can be used to derive the relationship between the time domain error ⁇ and the ⁇ domain error ⁇ , and the sampling frequency / s . Since the frequency domain, that is, the S domain, is used in practical applications, It will be described in detail, but it should also fall within the scope of protection of the present invention.
- the sampling frequency / s tends to be high, and can not meet the requirement of less than the upper limit of the sampling frequency / 53 ⁇ 4 . If not processed, the S domain and time domain errors will be large, and the application requirements cannot be met. . Therefore, the present invention further proposes a second data sampling method and system, so that the sampled data can satisfy the upper limit of the sampling frequency, thereby improving the accuracy of the sampled data.
- an embodiment of a second data sampling method includes the following steps:
- the electrical signal y of the physical quantity is sampled to satisfy the sampling frequency of the Nyquist theorem, and the sampling sequence Y1 is obtained;
- the Z-domain error ⁇ ⁇ ⁇ of the sampling system is a truncation error of the sampling system; the truncation error ⁇ of the sampling system is related to ⁇ , and the single ground can take ⁇ ⁇ , h cpu , or The smaller of ⁇ and ⁇ .
- FIG. 5 is a schematic diagram of an embodiment of a data sampling system, including:
- the sampling unit 3 is configured to sample the physical quantity of the electrical signal y to satisfy the sampling frequency of the Nyquist theorem, and obtain the sampling sequence Y1;
- a low pass filter 4 configured to perform low pass filtering on the sampling sequence Y1 to obtain a filtered sampling sequence Y2;
- the resampling unit 5 is configured to resample the filtered sample sequence Y2 to obtain the sample sequence Y, and then output to the output unit 6;
- ⁇ is the area error of the sampling system, and the dish is the maximum error of the S domain;
- Output unit 6 output sample sequence ⁇ .
- the cutoff frequency of the low pass filter 4 is, / c ⁇ 0.5x, to prevent mixing when resampling.
- the Z-domain error ⁇ ⁇ ⁇ of the sampling system is a truncation error of the sampling system; the truncation error ⁇ of the sampling system is related to ⁇ , and the single ground can take ⁇ ⁇ , h cpu , or The smaller of ⁇ and ⁇ .
- the error of the S domain can be reduced to a predetermined range ⁇ .
- the contradiction of / s3 ⁇ 4 ⁇ may occur in practical applications, resulting in failure to follow the first method.
- f sl ⁇ f s ⁇ ⁇ Select the sampling frequency, which can be solved by the second data sampling method described above, that is, the method of low-pass filtering and re-sampling. Since in all the poles ⁇ p n ⁇ and zero ⁇ p ra ⁇ , the main pole is the main zero point P. m plays a leading role, the higher the frequency, the lower the pole or zero effect, so when the contradiction occurs, the high-frequency pole and zero point are filtered by the low-pass filter, and the sampling frequency is reduced by resampling, which can not only solve the problem.
- the above sampling methods and systems have many applications.
- the first application is parameter identification.
- both dynamic and static parameters have been rarely successful. Now the sampling data is accurate. The error is within a given range, which is very beneficial for parameter identification.
- Parameters include static parameters and dynamic parameters, static parameters are the coefficients of the system equation, and dynamic parameters are the coefficients of the system differential equation.
- static parameters refer to the power flow equation.
- Admittance matrix that is, resistance, reactance and susceptance of components such as transformers, wires, generators, etc.
- Dynamic parameters refer to excitation time constant, speed regulation time constant, rotor time constant, etc.
- a parameter identification method using the above two data sampling methods further comprising the step S5, comprising performing a dynamic parameter identification step S51 and/or a static parameter identification step S52 according to the sampling sequence ⁇ .
- the step S51 of the dynamic parameter identification includes, according to the sampling sequence Y, the step S511 of identifying the order and parameters of the ARMAX model by using the identification method in the adaptive control, or the step S512 of identifying the parameter by the reference model method, or Kalman Step S513 of the filter identification parameter.
- the static parameter identification step S52 includes a step S521 of first calculating a steady state value for the sampling sequence Y, and a parameter estimation method, a correlation coefficient method, a linear regression method, a linearizable linear regression method according to the steady state value, Or step S522 of identifying a static parameter by a least squares method;
- Value step S521 includes:
- the average value is calculated according to the sampling sequence Y as a steady state value
- the forced component is calculated as the steady state value according to the sampling sequence Y.
- the step S5211 determines whether the current sample value is in a steady state process or a transient process according to the t distribution or its binization, or the filter output result; the filter is a Kalman filter or an ⁇ filter.
- the step S52135 calculates the forced component according to: ⁇ + ⁇ + ⁇ + ⁇ +...+ ⁇ , where ⁇ 3 ⁇ 4, ⁇ , ⁇ ⁇ , ⁇ are according to the derivative formula and the physical quantity y and The constant determined by the initial value of each derivative.
- a parameter identification system comprising the above data sampling system, further comprising: a parameter identification unit, which is decomposed into a dynamic parameter identification unit 51 and a static parameter identification unit 52 according to application requirements, as shown in FIG.
- the dynamic parameter identification unit 51 identifies the order and parameters of the ARMAX model, or the reference model estimation parameter, or the Kalman filter estimation parameter according to the sampling sequence Y, using the identification method in the adaptive control.
- the static parameter identification unit 52 includes, including a steady state value calculation unit 521, Calculating a steady state value according to the sampling sequence Y; a static parameter estimating unit 522 for using a parameter estimation method, or a correlation coefficient method, or a linear regression method, or a linearizable linear regression method, or a minimum two according to a steady state value Multiply estimates static parameters.
- FIG. 8 is a schematic diagram of a steady-state value calculation unit, the steady-state value calculation unit 521, comprising: a determination unit 5211, according to the sampling sequence ⁇ , determining whether the current sample value is in a steady state process or a transient process according to the t-distribution or its cylinderization;
- Calculating a steady state unit 5212 configured to calculate an average value as a steady state value according to the sampling sequence Y when determining that the current sampling value is in a steady state process
- the steady state unit 5213 is calculated to calculate the forced component as the steady state value according to the sampling sequence Y when it is determined that the current sample value is in the transient process.
- the steady state unit 5213 is calculated, including:
- n + l to determine n, where ⁇ is a constant close to 0;
- the determining unit 52133 is configured to receive the data sequence "[ ⁇ , and determine that the current value is in a steady state process or a transient process according to the t distribution or its cylinderization;
- the determining unit 52133 the t distribution criterion:
- t(k) is the t distribution with a degree of freedom of k.
- the criterion can be further reduced to:
- ⁇ is a given constant
- Xe is the nominal value of the physical quantity X.
- the ⁇ is between 0.1% and 10%.
- the average and standard deviation 3 ⁇ 4 calculations can be performed as follows:
- the filtering algorithm can also be used to judge whether the current value x k is in a steady state process or a transient process, specifically: performing Kalman filtering on ⁇ ⁇ to obtain each component of the state variable; and determining whether each component of the state variable exceeds the corresponding setting. Value; if there is one component or several components exceeding the set value, it is judged that the current value is in the transient process; otherwise, if it is not exceeded, it is judged that the current value is in the steady state process.
- the determining unit 5211 according to the sampling sequence Y, determining the current sampling value in the steady state process or the transient process according to the t distribution or the sizing thereof, and the steps of calculating the average value and the variance are similar to the determining unit 52133, I won't go into details here.
- the data sampling method and system of the invention reduces the truncation error in the digital sampling and digital system to the S domain and the time domain by making the sampling frequency satisfy the upper limit of the sampling frequency or reducing the frequency by resampling to meet the upper limit of the sampling frequency.
- the error makes the final S-domain error within the acceptable maximum error, meeting the needs of the specific application.
- the parameter identification method and system of the invention adopts the data sampling method and system as described above, and can accurately identify the dynamic parameters and the static parameters, especially after calculating the steady state value, and then identifying the static parameters, so that the finally obtained static parameters More accurate. Since telemetry collects local digital measurement data by communication, which is consistent with the principle and nature of data obtained by in-situ digital measurement, the data sampling method and system of the present invention are equally applicable to telemetry methods and systems, and should be equally protected.
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JP2015537134A JP6069809B2 (ja) | 2012-10-23 | 2013-10-23 | データサンプリング方法とシステム、及びパラメータ識別におけるその応用方法とシステム |
US14/437,972 US9438449B2 (en) | 2012-10-23 | 2013-10-23 | Data sampling method and system, and application method and system thereof in parameter identification |
CA2889334A CA2889334C (en) | 2012-10-23 | 2013-10-23 | Data sampling method and system, and application method and system thereof in parameter identification |
EP13849426.5A EP2913930A4 (en) | 2012-10-23 | 2013-10-23 | Data sampling method and system, and application method and system thereof in parameter identification |
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CN108197381B (zh) * | 2017-12-29 | 2019-09-27 | 河海大学 | 基于寻优空间形态分析的参数辨识方法 |
CN111293686A (zh) * | 2020-02-29 | 2020-06-16 | 上海电力大学 | 基于armax系统辨识的电力系统惯量实时评估方法 |
CN114167113B (zh) * | 2021-12-31 | 2024-05-17 | 上海市计量测试技术研究院 | 一种精确确定积分式数字多用表带宽的采样方法及系统 |
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- 2013-10-23 EP EP13849426.5A patent/EP2913930A4/en not_active Withdrawn
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Also Published As
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US9438449B2 (en) | 2016-09-06 |
CN102946253B (zh) | 2016-06-08 |
EP2913930A1 (en) | 2015-09-02 |
JP6069809B2 (ja) | 2017-02-01 |
CA2889334C (en) | 2017-07-18 |
CN102946253A (zh) | 2013-02-27 |
CA2889334A1 (en) | 2014-05-01 |
JP2016500958A (ja) | 2016-01-14 |
EP2913930A4 (en) | 2017-02-08 |
US20150280943A1 (en) | 2015-10-01 |
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