Performance monitoring method and device of automatic regulation system

Abstract

The present disclosure relates to a performance monitoring method and device for an automatic regulating system, so as to solve the problem in the related art that the manual monitoring of the regulating performance of the automatic regulating system is not timely and has low accuracy. The method comprises: obtaining the disturbance operation data of the automatic regulating system in response to the disturbance signal for the target disturbance object in real time; determining the regulating performance of the automatic regulating system according to the disturbance operation data and the preset reference index of the target disturbance object, wherein the preset reference index of the target disturbance object is obtained based on the first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic regulating system for the target disturbance object under the standard disturbance test, and the performance index comprises the first performance index of the first-order inertial link and the second performance index of the second-order oscillation link.

Description

Technical Field

[0001] The present disclosure relates to the field of automation technology, and in particular to a performance monitoring method and device for an automatic adjustment system. Background Art

[0002] The thermal control system of a unit in an existing thermal power plant generally has hundreds of automatic control systems. The quality of the automatic control system's control performance directly affects the safety and economy of the thermal power plant. In the actual production process, it is necessary to conduct disturbance tests on the automatic control system regularly to monitor the control performance of the automatic control system. Because when the automatic control system is undergoing a disturbance test, its time domain response curve is an attenuated second-order oscillation curve or an over-damped first-order inertia curve. When monitoring the control performance of the automatic control system, it is necessary to judge the two stages separately to determine the control performance of the automatic control system. Therefore, usually after the automatic control system undergoes a disturbance test, the monitoring personnel judge the control performance of the automatic control system based on experience or performance indicators determined based on standard disturbance tests, resulting in untimely monitoring and low accuracy. Summary of the invention

[0003] The purpose of the present invention is to provide a performance monitoring method and device for an automatic regulating system, so as to solve the problem in the related art that manual monitoring of the regulating performance of the automatic regulating system is not timely and has low accuracy.

[0004] In order to achieve the above object, a first aspect of the present disclosure provides a performance monitoring method of an automatic adjustment system, the method comprising:

[0005] Acquiring in real time disturbance operation data of the automatic adjustment system in response to a disturbance signal directed to a target disturbance object;

[0006] The regulation performance of the automatic regulation system is determined according to the disturbance operation data and the preset reference index of the target disturbance object, wherein the preset reference index of the target disturbance object is obtained based on a first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic regulation system for the target disturbance object under a standard disturbance test, and the performance index includes a first performance index of a first-order inertial link and a second performance index of a second-order oscillation link.

[0007] Optionally, the performance index includes a decay rate, a test error value, a test stabilization time and a test steady-state error value, and the preset reference index of the target disturbance object is determined in the following manner:

[0008] Determining a damping coefficient according to the attenuation rate, and determining a target amplification factor according to the damping coefficient;

[0009] Determining a steady-state error per unit value according to the experimental steady-state error value and the experimental error value, and determining a target time constant based on the damping coefficient, the steady-state error per unit value and the experimental stabilization time;

[0010] The first-order inertial reference model is determined based on the target time constant and the target magnification factor, and the preset reference index is determined according to the first-order inertial reference model, wherein the preset reference index includes a reference steady-state error value and a reference error value

[0011] Optionally, the disturbance operation data includes a disturbance steady-state error value and a disturbance error value, and determining the adjustment performance of the automatic adjustment system according to the disturbance operation data and a preset reference index of the target disturbance object includes:

[0012] Determining a per-unit value of a disturbance error according to the disturbance steady-state error value and the disturbance error value;

[0013] The regulation performance of the automatic regulation system is determined based on the magnitude relationship between the disturbance error per unit value and the reference error per unit value, wherein the reference error per unit value is determined based on the reference steady-state error value and the reference error value.

[0014] Optionally, determining the regulation performance of the automatic regulation system according to the disturbance operation data and a preset reference index of the target disturbance object includes:

[0015] Determining a disturbance operation curve according to the disturbance operation data;

[0016] The regulation performance of the automatic regulation system is determined based on the positional relationship between the disturbance operation curve and a reference error curve, wherein the reference error curve is obtained based on the preset reference index.

[0017] Optionally, determining the regulation performance of the automatic regulation system according to the magnitude relationship between the per-unit value of the disturbance error and the per-unit value of the reference error includes:

[0018] When the per-unit value of the disturbance error is less than or equal to the per-unit value of the reference error, it is determined that the regulation performance of the automatic regulation system meets the preset requirements.

[0019] Optionally, determining the regulation performance of the automatic regulation system based on the positional relationship between the disturbance operation curve and the reference error curve includes:

[0020] When the error value corresponding to each moment in the disturbance operation curve is less than or equal to the error value corresponding to the moment in the reference error curve, it is determined that the regulation performance of the automatic regulation system meets the preset requirements.

[0021] Optionally, the disturbance operation data includes a disturbance error value and a disturbance stabilization time, the performance index includes a test steady-state error value, and the method further includes:

[0022] Using the disturbance error value obtained after the disturbance stabilization time as the target error value;

[0023] The regulation performance of the automatic regulation system is determined according to the magnitude relationship between the target error value and the test steady-state error value.

[0024] A second aspect of the present disclosure further provides a performance monitoring device for an automatic regulation system, the device comprising:

[0025] An acquisition module, used for acquiring in real time disturbance operation data of the automatic adjustment system in response to a disturbance signal for a target disturbance object;

[0026] A determination module is used to determine the adjustment performance of the automatic adjustment system according to the disturbance operation data and the preset reference index of the target disturbance object, wherein the preset reference index of the target disturbance object is obtained based on a first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic adjustment system for the target disturbance object under a standard disturbance test, and the performance index includes a first performance index of a first-order inertial link and a second performance index of a second-order oscillation link.

[0027] The third aspect of the present disclosure further provides a non-temporary computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect above.

[0028] A fourth aspect of the present disclosure further provides an electronic device, comprising:

[0029] a memory having a computer program stored thereon;

[0030] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods described in the first aspect above.

[0031] In the above technical solution, the disturbance operation data of the automatic regulating system in response to the disturbance signal for the target disturbance object is first obtained in real time, and then the regulation performance of the automatic regulating system is determined according to the disturbance operation data and the preset reference index of the target disturbance object. Through this method, the first performance index of the first-order inertia link and the second performance index of the second-order oscillation link are converted into a unified first-order inertia reference model, so that in the process of the disturbance test of the automatic regulating control system, the regulation performance of the automatic regulating system is timely monitored based on the preset reference index and the disturbance operation data, and it does not rely on manual detection, avoids interference from human factors such as personnel monitoring level and test operation mode, and improves the accuracy of the monitoring results.

[0032] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0034] Figure 1 It is a schematic diagram of the adjustment process of the automatic adjustment system;

[0035] Figure 2 It is a flow chart of a performance monitoring method of an automatic adjustment system provided by an embodiment of the present disclosure;

[0036] Figure 3 It is a schematic diagram of the time domain response analysis of the automatic regulation system in the second-order oscillation link;

[0037] Figure 4 is a block diagram of a performance monitoring device for an automatic adjustment system shown in an embodiment of the present disclosure;

[0038] Figure 5 It is a schematic diagram of an electronic device shown in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0040] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0041] It should be understood that the various steps described in the method implementation of the present disclosure may be performed in different orders and / or in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect. The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below.

[0042] At present, in the disturbance test of the automatic regulation system of the thermal power plant, the automatic regulation system needs to combine the disturbance signal, feedback signal and input signal for correction and adjustment. Because the time domain response curve of the automatic regulation system during the disturbance test is a decayed second-order oscillation curve or an over-damped first-order inertia curve. When monitoring the regulation performance of the automatic regulation system, it is necessary to judge the two stages separately to determine the regulation performance of the automatic regulation system. Therefore, usually after the disturbance test of the automatic regulation system, the monitoring personnel judge the regulation performance of the automatic regulation system based on experience or performance indicators after the disturbance test, resulting in untimely monitoring and low accuracy.

[0043] In view of this, the present disclosure provides a performance monitoring method and device for an automatic adjustment system to solve the above problems.

[0044] It should be noted that, refer to Figure 1 The automatic regulation system of a thermal power plant is generally a feedback regulation system. Among them, G1 and G2 are correction links, H is a feedback link, R is a fixed value signal input to the feedback regulation system, N is a disturbance signal, B is a feedback signal, and C is an output signal. In the embodiment of the present disclosure, the preset reference index of the automatic regulation system is obtained by analyzing the time domain response of B / R and B / N (hereinafter referred to as B / R and B / N as generalized regulation objects).

[0045] The technical solution of the present disclosure is described in detail below with reference to embodiments.

[0046] The present disclosure provides a method for monitoring the performance of an automatic adjustment system. Figure 2 , the method comprising:

[0047] S201 . Acquire disturbance operation data of an automatic adjustment system in response to a disturbance signal for a target disturbance object in real time.

[0048] S202: Determine the regulation performance of the automatic regulation system according to the disturbance operation data and preset reference indicators of the target disturbance object.

[0049] Among them, the preset reference index of the target disturbance object is obtained based on the first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic adjustment system for the target disturbance object under the standard disturbance test. The performance index includes the first performance index of the first-order inertial link and the second performance index of the second-order oscillation link.

[0050] According to the method, the disturbance operation data of the automatic regulating system in response to the disturbance signal of the target disturbance object is first obtained in real time, and then the regulation performance of the automatic regulating system is determined according to the disturbance operation data and the preset reference index of the target disturbance object. Through the method, the first performance index of the first-order inertia link and the second performance index of the second-order oscillation link are converted into a unified first-order inertia reference model, so that in the process of the disturbance test of the automatic regulating control system, the regulation performance of the automatic regulating system is timely monitored based on the preset reference index and the disturbance operation data, and it does not rely on manual detection, avoids interference from human factors such as personnel monitoring level and test operation mode, and improves the accuracy of the monitoring results.

[0051] In order to enable those skilled in the art to better understand the performance monitoring method of the automatic adjustment system provided by the present disclosure, the above steps are described in detail with examples below.

[0052] It is worth noting that in the standard disturbance test of the automatic control system, step disturbance is usually used for time domain response analysis. For the automatic control system under step disturbance, the performance indicators are generally defined as five indicators: delay time, rise time, peak time, adjustment time and overshoot. Figure 3 The delay time is mainly determined by the delay time of the generalized regulation object after compensation by the automatic regulation system, and the rise time is determined by the damping coefficient (ζ) and the oscillation angular frequency (ω) of the generalized regulation object. n ), and the adjustment time depends on the determined steady-state error, the damping coefficient (ζ) and the oscillation angular frequency (ω n ). In the relevant industry standards, from a practical point of view, the performance indicators of the automatic control system are defined as four indicators: dynamic error (overshoot), steady-state error, attenuation rate and stabilization time (adjustment time). Among them, the attenuation rate indicator represents the ratio of the difference between the first overshoot and the second overshoot to the first overshoot (ψ), which is generally stipulated to be 0.75~0.9, that is, the ratio of the first overshoot to the second overshoot should be 4:1~10:1.

[0053] That is to say, the time domain response curve of the automatic control system is a decayed second-order oscillation curve (underdamped) or an overdamped first-order inertia curve to ensure the stability of the automatic control system. Based on this, the time domain response analysis of the second-order oscillation link and the first-order inertia link is performed respectively.

[0054] First, the response curve of the second-order oscillation link is analyzed. The above generalized regulation object can be approximately represented as a second-order regulation object and expressed by the following calculation formula:

[0055]

[0056]

[0057]

[0058] Among them, K represents the coefficient, Ts represents the adjustment time, t represents any moment within the adjustment time, ω d represents the oscillation angular frequency at time d. And, at the oscillation angular frequency (ω n ) are the same, the generalized regulation objects with different damping coefficients (ζ) present different overshoots, attenuation rates and oscillation times. When ζ=0, it is an undamped state, and its time domain response curve is a constant amplitude oscillation. When ζ=1, it is a critical damped state, and its time domain response curve is a non-oscillation curve. When 0<ζ<1, it is an underdamped state, and its time domain response curve is a decayed oscillation curve. For details, please refer to the second-order system unit step response curve in the relevant technology, and the present disclosure will not repeat them here.

[0059] Furthermore, the envelope of the time domain response curve can be expressed by the following calculation formula:

[0060]

[0061]

[0062]

[0063]

[0064] Where b(t) represents the envelope of the time domain response curve, β represents the deviation angle, and t p Indicates the time when the maximum peak is reached, t p1 Indicates the time when the first overshoot peak occurs, t p2 Indicates the time when the second overshoot peak occurs. It can be seen that when the automatic control system is in an underdamped state, the envelope of its response curve is the response curve of two first-order inertia links, and the maximum value of the envelope is the value at t = 0, as shown in calculation formula (6). Then, substituting calculation formula (7) into calculation formula (4), the following first overshoot peak σ(t p1 ) and the second overshoot peak value σ(t p2 ):

[0065]

[0066]

[0067] Furthermore, according to equations (8) and (9), the following calculation formula for the attenuation rate (ψ) is obtained:

[0068]

[0069] For example, if the attenuation rate requirement of the second-order oscillation link of the generalized regulation object of the automatic regulation system is 4:1 to 10:1, then its damping coefficient ζ is between 0.22 and 0.35. For example, when the attenuation rate is 7:1, the damping coefficient is 0.3, which is not specifically limited in the present disclosure.

[0070] Then, the response curve of the first-order inertia link is analyzed. The time domain response curve c(t) and error e(t) of the first-order inertia link can be expressed by the following calculation formula:

[0071]

[0072] e(t)=e -t / T (12)

[0073] Where T represents the time constant of the first-order inertia link. Further, the following calculation formula for the time constant of the first-order inertia link is obtained:

[0074]

[0075] The time domain response curve of the second-order oscillation link and the time domain response curve of the first-order inertia link can refer to the relevant technology, and the present disclosure will not repeat them here.

[0076] It is worth noting that since the envelope of the time domain response curve of the second-order oscillation link and the time domain response curve of the first-order inertia link can both be represented by the first-order response curve, a unified first-order inertia reference model for the generalized regulation object can be determined by the first performance indicator of the first-order inertia link and the second performance indicator of the second-order oscillation link, so as to determine the preset reference indicator and use it to judge the regulation performance of the automatic regulation system.

[0077] In a possible manner, the performance indicators include an attenuation rate, a test error value, a test stabilization time, and a test steady-state error value, and the preset reference indicators of the target disturbance object are determined in the following manner: a damping coefficient is determined according to the attenuation rate, and a target amplification factor is determined according to the damping coefficient, and then a steady-state error per unit value is determined according to the test steady-state error value and the test error value, and a target time constant is determined based on the damping coefficient, the steady-state error per unit value, and the test stabilization time, and finally a first-order inertial reference model is determined based on the target time constant and the target amplification factor, and a preset reference indicator is determined according to the first-order inertial reference model, and the preset reference indicator includes a reference steady-state error value and a reference error value.

[0078] For example, by combining the above calculation formulas (4) and (11) to adjust (13), the following calculation formula is obtained to represent the target time constant:

[0079]

[0080] Where T′ represents the target time constant and δ represents the per-unit value of the steady-state error. And if When the calculated result of is small, this part can be ignored, for example, when the damping coefficient ζ=0.3, the present disclosure does not limit this. The steady-state error per unit value can be determined by dividing the experimental steady-state error value by the experimental error value. The target amplification factor can be determined by the following calculation formula based on the above calculation formula (6):

[0081]

[0082] Where Y represents the target magnification factor.

[0083] Furthermore, without considering pure delay, a first-order inertial reference model can be obtained based on the target amplification factor and the target time constant, and the reference steady-state error value and the reference error value of the preset reference index can be determined according to the response curve. Further, the reference steady-state error value is divided by the reference error value, and the result is used as the steady-state error per unit value.

[0084] In a possible manner, the disturbance operation data includes a disturbance steady-state error value and a disturbance error value. According to the disturbance operation data and preset reference indicators of the target disturbance object, determining the regulation performance of the automatic regulation system can be: determining the disturbance error per-unit value according to the disturbance steady-state error value and the disturbance error value, and then determining the regulation performance of the automatic regulation system based on the size relationship between the disturbance error per-unit value and the reference error per-unit value, the reference error per-unit value is determined based on the reference steady-state error value and the reference error value.

[0085] For example, taking the drum water level constant disturbance test of the feedwater control system in the automatic control system as an example, the attenuation rate of its performance indicators is required to be 4:1~10:1, the test error value is required to be ±60mm, the test stabilization time is required to be less than 5min, and the test steady-state error value is required to be ±25mm. Assuming that the damping coefficient ζ=0.3 when the attenuation rate is 7:1, the test steady-state error value is divided by the test error value to obtain the test error per unit value of 0.417. According to calculation formula (14), the target time constant is 5.95min, and according to calculation formula (15), the target amplification factor is 1.048. Based on this, a first-order inertial reference model with a target time constant of 5.95min and a target amplification factor of 1.048 is obtained, and then the reference steady-state error value and reference error value of the preset reference indicator are obtained.

[0086] In a possible manner, determining the regulation performance of the automatic regulation system according to the magnitude relationship between the per-unit value of the disturbance error and the per-unit value of the reference error may be: when the per-unit value of the disturbance error is less than or equal to the per-unit value of the reference error, determining that the regulation performance of the automatic regulation system meets the preset requirements. Alternatively, when the per-unit value of the disturbance error is greater than the per-unit value of the reference error, determining that the regulation performance of the automatic regulation system does not meet the preset requirements.

[0087] Among them, the fact that the adjustment performance of the automatic adjustment system meets the preset requirements means that the adjustment performance of the automatic adjustment system meets the performance indicators formulated by the relevant industry for the automatic adjustment system.

[0088] In a possible manner, determining the regulation performance of the automatic regulation system according to the disturbance operation data and the preset reference index of the target disturbance object can be: determining the disturbance operation curve according to the disturbance operation data, and then determining the regulation performance of the automatic regulation system based on the positional relationship between the disturbance operation curve and the reference error curve, wherein the reference error curve is obtained based on the preset reference index.

[0089] For example, the disturbance operation data is converted into a visual operation curve, and each point on the curve represents the actual error value at that moment. Then, a visual reference error curve is constructed based on a preset reference indicator, and each point on the curve represents the reference error value at that moment.

[0090] Further, in a possible manner, determining the regulation performance of the automatic regulation system based on the positional relationship between the disturbance operation curve and the reference error curve can be: when the error value corresponding to each moment in the disturbance operation curve is less than or equal to the error value corresponding to that moment in the reference error curve, it is determined that the regulation performance of the automatic regulation system meets the preset requirements. Alternatively, when the error value corresponding to any moment in the disturbance operation curve is greater than the error value corresponding to that moment in the reference error curve, it is determined that the regulation performance of the automatic regulation system does not meet the preset requirements. Thus, through the visual graphics, the regulation performance of the automatic regulation system can be monitored more intuitively.

[0091] In a possible manner, the disturbance operation data includes a disturbance error value and a disturbance stabilization time, and the performance index includes a test steady-state error value. The method also includes: taking the disturbance error value obtained after the disturbance stabilization time as the target error value, and determining the adjustment performance of the automatic adjustment system according to the relationship between the target error value and the test steady-state error value.

[0092] For example, a disturbance test is performed on the automatic regulating system. After the disturbance stabilization time, the automatic regulating system enters a stable state. At this time, the regulating performance can be judged according to the test steady-state error value set by the performance index of the automatic regulating system. In other words, if the target error value is within the range of the test steady-state error value, it is determined that the regulating performance of the automatic regulating system meets the preset requirements, otherwise it does not meet the preset requirements. Correspondingly, the target error value and the test steady-state error value can also be converted into visual graphics for comparison to judge the regulating performance of the automatic regulating system, which will not be repeated in this disclosure.

[0093] It is worth noting that during the normal operation of the automatic regulating system in the non-disturbance test, the operation error data in the operation data can also be compared with the preset working steady-state error data to judge the regulation performance of the automatic regulating system during the operation. Furthermore, if the regulation performance of the automatic regulating system during the operation does not meet the preset requirements, a disturbance test can be performed to determine the abnormal automatic regulating system, thereby reducing the frequency of disturbance tests on the automatic regulating system and avoiding affecting the normal operation of the automatic regulating system.

[0094] In addition, the above-mentioned preset reference index and the corresponding reference error curve are not only applicable to monitoring the regulation performance of the automatic regulation system under step disturbance. Since the first-order inertial reference model is obtained by converting the performance index determined by the automatic regulation system under the standard disturbance test, and then obtaining the preset reference index for the general regulation object, the preset reference index and the corresponding reference error curve are also applicable to monitoring the regulation performance of the automatic regulation system under non-step disturbances caused by factors such as unit load and air volume.

[0095] Based on the same inventive concept, the embodiment of the present disclosure also provides a performance monitoring device for an automatic adjustment system, referring to Figure 4 , the device 400 comprises:

[0096] The acquisition module 401 is used to acquire in real time the disturbance operation data of the automatic adjustment system in response to the disturbance signal for the target disturbance object.

[0097] The determination module 402 is used to determine the regulation performance of the automatic regulation system according to the disturbance operation data and the preset reference index of the target disturbance object, wherein the preset reference index of the target disturbance object is obtained based on a first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic regulation system for the target disturbance object under a standard disturbance test, and the performance index includes a first performance index of a first-order inertial link and a second performance index of a second-order oscillation link.

[0098] By adopting the device, the disturbance operation data of the automatic regulating system in response to the disturbance signal for the target disturbance object is first obtained in real time, and then the regulation performance of the automatic regulating system is determined according to the disturbance operation data and the preset reference index of the target disturbance object. Through the device, the first performance index of the first-order inertia link and the second performance index of the second-order oscillation link are converted into a unified first-order inertia reference model, so that in the process of the disturbance test of the automatic regulating control system, the regulation performance of the automatic regulating system is timely monitored based on the preset reference index and the disturbance operation data, and it does not rely on manual detection, avoids interference from human factors such as personnel monitoring level and test operation mode, and improves the accuracy of the monitoring results.

[0099] Optionally, the performance index includes a decay rate, a test error value, a test stabilization time and a test steady-state error value, and the preset reference index of the target disturbance object is determined in the following manner:

[0100] Determining a damping coefficient according to the attenuation rate, and determining a target amplification factor according to the damping coefficient;

[0101] Determining a steady-state error per unit value according to the experimental steady-state error value and the experimental error value, and determining a target time constant based on the damping coefficient, the steady-state error per unit value and the experimental stabilization time;

[0102] The first-order inertial reference model is determined based on the target time constant and the target magnification factor, and the preset reference index is determined according to the first-order inertial reference model, wherein the preset reference index includes a reference steady-state error value and a reference error value.

[0103] Optionally, the disturbance operation data includes a disturbance steady-state error value and a disturbance error value, and the determination module 402 is used to:

[0104] Determining a per-unit value of a disturbance error according to the disturbance steady-state error value and the disturbance error value;

[0105] The regulation performance of the automatic regulation system is determined based on the magnitude relationship between the disturbance error per unit value and the reference error per unit value, wherein the reference error per unit value is determined based on the reference steady-state error value and the reference error value.

[0106] Optionally, the determining module 402 is used to:

[0107] Determining a disturbance operation curve according to the disturbance operation data;

[0108] The regulation performance of the automatic regulation system is determined based on the positional relationship between the disturbance operation curve and a reference error curve, wherein the reference error curve is obtained based on the preset reference index.

[0109] Optionally, the determining module 402 is further configured to:

[0110] When the per-unit value of the disturbance error is less than or equal to the per-unit value of the reference error, it is determined that the regulation performance of the automatic regulation system meets the preset requirements.

[0111] Optionally, the determining module 402 is further configured to:

[0112] When the error value corresponding to each moment in the disturbance operation curve is less than or equal to the error value corresponding to the moment in the reference error curve, it is determined that the regulation performance of the automatic regulation system meets the preset requirements.

[0113] Optionally, the disturbance operation data includes a disturbance error value and a disturbance stabilization time, the performance index includes a test steady-state error value, and the device 400 is further used for:

[0114] Using the disturbance error value obtained after the disturbance stabilization time as the target error value;

[0115] The regulation performance of the automatic regulation system is determined according to the magnitude relationship between the target error value and the test steady-state error value.

[0116] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0117] The third aspect of the present disclosure also provides a non-temporary computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned performance monitoring method of the automatic adjustment system.

[0118] A fourth aspect of the present disclosure further provides an electronic device, comprising:

[0119] a memory having a computer program stored thereon;

[0120] A processor is used to execute the computer program in the memory to implement the steps of the performance monitoring method of the automatic adjustment system.

[0121] Figure 5 is a block diagram of an electronic device 500 according to an exemplary embodiment. Figure 5 The electronic device 500 includes a processor 501, which may be one or more, and a memory 502 for storing a computer program executable by the processor 501. The computer program stored in the memory 502 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 501 may be configured to execute the computer program to perform the above-mentioned performance monitoring method of the automatic adjustment system.

[0122] In addition, the electronic device 500 may further include a power supply component 505 and a communication component 503. The power supply component 505 may be configured to perform power management of the electronic device 500, and the communication component 503 may be configured to implement communication of the electronic device 500, for example, wired or wireless communication. In addition, the electronic device 500 may further include an input / output (I / O) interface 504. The electronic device 500 may operate based on an operating system stored in the memory 502, such as Windows Server 2003. TM , Mac OSX TM , Unix TM , Linux TM etc.

[0123] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned automatic adjustment system performance monitoring method are implemented. For example, the non-transitory computer-readable storage medium can be the above-mentioned memory 502 including program instructions, and the above-mentioned program instructions can be executed by the processor 501 of the electronic device 500 to complete the above-mentioned automatic adjustment system performance monitoring method.

[0124] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-mentioned performance monitoring method of the automatic regulation system when executed by the programmable device.

[0125] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0126] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0127] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A performance monitoring method for an automatic regulation system, characterized in that: The method comprises: Acquiring in real time disturbance operation data of the automatic adjustment system in response to a disturbance signal directed to a target disturbance object; The regulation performance of the automatic regulation system is determined according to the disturbance operation data and the preset reference index of the target disturbance object, wherein the preset reference index of the target disturbance object is obtained based on a first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic regulation system for the target disturbance object under a standard disturbance test, and the performance index includes a first performance index of a first-order inertial link and a second performance index of a second-order oscillation link.

2. The method according to claim 1, characterized in that The performance indicators include attenuation rate, test error value, test stabilization time and test steady-state error value. The preset reference indicators of the target disturbance object are determined in the following manner: Determining a damping coefficient according to the attenuation rate, and determining a target amplification factor according to the damping coefficient; Determining a steady-state error per unit value according to the experimental steady-state error value and the experimental error value, and determining a target time constant based on the damping coefficient, the steady-state error per unit value and the experimental stabilization time; The first-order inertial reference model is determined based on the target time constant and the target magnification factor, and the preset reference index is determined according to the first-order inertial reference model, wherein the preset reference index includes a reference steady-state error value and a reference error value.

3. The method according to claim 2, characterized in that The disturbance operation data includes a disturbance steady-state error value and a disturbance error value, and determining the adjustment performance of the automatic adjustment system according to the disturbance operation data and a preset reference index of the target disturbance object includes: Determining a per-unit value of a disturbance error according to the disturbance steady-state error value and the disturbance error value; The regulation performance of the automatic regulation system is determined based on the magnitude relationship between the disturbance error per unit value and the reference error per unit value, wherein the reference error per unit value is determined based on the reference steady-state error value and the reference error value.

4. The method according to claim 1, characterized in that Determining the regulation performance of the automatic regulation system according to the disturbance operation data and the preset reference index of the target disturbance object includes: Determining a disturbance operation curve according to the disturbance operation data; The regulation performance of the automatic regulation system is determined based on the positional relationship between the disturbance operation curve and a reference error curve, wherein the reference error curve is obtained based on the preset reference index.

5. The method according to claim 3, characterized in that: Determining the regulation performance of the automatic regulation system according to the magnitude relationship between the per-unit value of the disturbance error and the per-unit value of the reference error includes: When the per-unit value of the disturbance error is less than or equal to the per-unit value of the reference error, it is determined that the regulation performance of the automatic regulation system meets the preset requirements.

6. The method according to claim 4, characterized in that The determining the regulating performance of the automatic regulating system based on the positional relationship between the disturbance operation curve and the reference error curve comprises: When the error value corresponding to each moment in the disturbance operation curve is less than or equal to the error value corresponding to the moment in the reference error curve, it is determined that the regulation performance of the automatic regulation system meets the preset requirements.

7. The method according to any one of claims 1 to 6, characterized in that The disturbance operation data includes a disturbance error value and a disturbance stabilization time, the performance index includes a test steady-state error value, and the method further includes: Using the disturbance error value obtained after the disturbance stabilization time as the target error value; The regulation performance of the automatic regulation system is determined according to the magnitude relationship between the target error value and the test steady-state error value.

8. A performance monitoring device for an automatic regulating system, characterized in that: The device comprises: An acquisition module, used for acquiring in real time disturbance operation data of the automatic adjustment system in response to a disturbance signal for a target disturbance object; A determination module is used to determine the adjustment performance of the automatic adjustment system according to the disturbance operation data and the preset reference index of the target disturbance object, wherein the preset reference index of the target disturbance object is obtained based on a first-order inertial reference model, and the first-order inertial reference model is determined based on the performance index of the automatic adjustment system for the target disturbance object under a standard disturbance test, and the performance index includes a first performance index of a first-order inertial link and a second performance index of a second-order oscillation link.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

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