A method and system for optimizing parameters of engineering fastest advance observer

Abstract

The present application discloses a method and system for optimizing parameters of an engineering fastest lead observer, including setting a lower limit and an upper limit of a time constant change of a second-order inertial filter based on an engineering fastest lead observer, setting the initial second-order inertial filter time constant as the lower limit of the time constant change, judging whether the second-order inertial filter time constant is less than the upper limit of the time constant change during the control process; if not, calculating the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency phase peak and amplitude-frequency gain peak within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer; obtaining its variation characteristics with the second-order inertial filter time constant, calculating the maximum value of the phase lead efficiency, and using the second-order inertial filter time constant corresponding to the maximum value of the phase lead efficiency as the optimal parameter of the engineering fastest lead observer. The present application can optimize the parameters of the engineering fastest lead observer and improve the performance of the lead observer.

Description

Technical Field

[0001] The present application relates to the technical field of process control of thermal power units, and in particular to a method and system for optimizing parameters of an engineering fastest advance observer. Background Art

[0002] In the field of process control of thermal power units, the prior art provides an engineering fastest controller (EFC), which is a cascade structure of an engineering fastest PI controller (EFPI) and an engineering fastest leading observer (EFLO). Usually, the EFLO is constructed by using a cascade structure of an engineering fastest tracking filter inverse (EFTFI) and a second order inertia filter (SOIF), and EFLO represents a high performance leading observer (HPLO).

[0003] At present, the main problem of HPLO is the problem of noise interference amplification. Leading and noise interference amplification are a pair of contradictions, in which the leading phase peak value (LPPV) of HPLO represents the leading performance of HPLO, and the gain peak value (GPV) of HPLO represents the noise interference level of HPLO. However, although the prior art proposes to use the ratio of the leading phase peak value LPPV to the gain peak value GPV to measure the phase leading efficiency (PLE) of HPLO, PLE represents an intuitive performance indicator for measuring the performance of HPLO, but it does not provide a method for obtaining the optimal PLE parameters of HPLO, that is, obtaining the optimal HPLO parameters, which may lead to a decrease in the performance of HPLO and further industrial control process. Summary of the invention

[0004] The purpose of the present application is to provide a method and system for optimizing parameters of an engineering fastest lead observer, so as to solve the problem that the parameters of the engineering fastest lead observer cannot be optimized in the prior art, thereby affecting the performance of the lead observer and the industrial control process.

[0005] To achieve the above objectives, the present application provides a method for optimizing parameters of an engineering fastest advance observer, comprising:

[0006] The engineering fastest tracking filter inverse is connected in cascade with the second-order inertia filter to construct the engineering fastest lead observer.

[0007] Set the lower limit and upper limit of the time constant change of the second-order inertia filter, set the initial second-order inertia filter time constant as the lower limit of the time constant change, and determine the relationship between the second-order inertia filter time constant and the upper limit of the time constant change during the control process;

[0008] If the current second-order inertial filter time constant is greater than or equal to the upper limit of the time constant change, the phase lead efficiency of the engineering fastest lead observer is calculated based on the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer;

[0009] The variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter are obtained, the maximum value of the phase lead efficiency is calculated, and the time constant of the second-order inertia filter corresponding to the maximum value of the phase lead efficiency is used as the optimal parameter of the engineering fastest lead observer.

[0010] Furthermore, the engineering fastest advance observer parameter optimization method further includes:

[0011] If the time constant of the second-order inertia filter is less than the upper limit of the time constant change, the step of obtaining the change characteristic of the phase lead efficiency with the time constant of the second-order inertia filter is performed.

[0012] Further, after calculating the phase advance efficiency of the fastest advance observer of the engineering, the method further includes:

[0013] Set the current second-order inertia filter time constant to the previous second-order inertia filter time constant plus the second-order inertia filter time constant change interval;

[0014] Return to the step of executing judgment on the relationship between the time constant of the second-order inertia filter and the upper limit of the time constant change during the control process.

[0015] Furthermore, the inverse of the engineering fastest tracking filter is connected in cascade with the second-order inertia filter to construct the engineering fastest lead observer, including:

[0016] EFLO(s)=EFTFI(s)SOIF(s),

[0017]

[0018]

[0019]

[0020] TF =T EFLO ;

[0021] Wherein, EFLO is the engineering fastest lead observer, EFTFI is the engineering fastest tracking filter inverse, SOIF is the second-order inertial filter, EFTF is the engineering fastest tracking filter, EFLO(s) is the Laplace transfer function of EFLO, EFTFI(s) is the Laplace transfer function of EFTFI, SOIF(s) is the Laplace transfer function of SOIF, EFTF(s) is the Laplace transfer function of EFTF; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; T SOIF is the time constant of SOIF, in seconds; T EFLO is the time constant of EFLO, in seconds, and in terms of quantity, T F =T EFLO .

[0022] Further, before calculating the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer, the method further includes:

[0023] According to the real frequency gain and imaginary frequency gain of the engineering fastest tracking filter, the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter are calculated;

[0024] According to the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter, the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter are calculated;

[0025] According to the amplitude-frequency gain and phase-frequency phase of the inverse of the fastest tracking filter of the engineering, the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter, the phase-frequency phase and amplitude-frequency gain of the fastest advance observer of the engineering are calculated from the lower limit of the frequency change to the upper limit of the frequency change;

[0026] According to the phase-frequency phase and amplitude-frequency gain within the range from the lower limit of frequency change to the upper limit of frequency change of the engineering fastest advance observer, the corresponding phase-frequency phase peak value and amplitude-frequency gain peak value are determined respectively.

[0027] Further, the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter are calculated according to the real frequency gain and imaginary frequency gain of the engineering fastest tracking filter, including:

[0028] Get the real frequency gain of the engineering fastest tracking filter:

[0029]

[0030] Where EFTF is the fastest engineering tracking filter, REFTF (ω) is the real frequency gain of EFTF, unit is dimensionless; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; ω is the frequency, in red / s; atan is the inverse tangent function;

[0031] Get the imaginary frequency gain of the engineering fastest tracking filter:

[0032]

[0033] Where EFTF is the fastest engineering tracking filter, I EFTF (ω) is the imaginary frequency gain of EFTF, unit is dimensionless; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; ω is the frequency, in red / s; atan is the inverse tangent function;

[0034] Calculate the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter:

[0035]

[0036]

[0037] Where EFTF is the fastest engineering tracking filter, G EFTF (ω) is the amplitude-frequency gain of EFTF, unit is dimensionless; R EFTF (ω) is the real frequency gain of EFTF, unit is dimensionless; I EFTF (ω) is the imaginary frequency gain of EFTF, unit is dimensionless; PH EFTF (ω) is the frequency phase of EFTF, in rad; atan is the inverse tangent function.

[0038] Further, the step of calculating the amplitude-frequency gain and the phase-frequency phase of the inverse of the engineering fastest tracking filter according to the amplitude-frequency gain and the phase-frequency phase of the engineering fastest tracking filter includes:

[0039]

[0040] PH EFTFI =-PH EFTF ;

[0041] Where EFTFI is the engineering fastest tracking filter inverse, EFTF is the engineering fastest tracking filter, G EFTFI (ω) is the amplitude-frequency gain of EFTFI, unit is dimensionless; G EFTF (ω) is the amplitude-frequency gain of EFTF, unit is dimensionless; PH EFTFI(ω) is the phase frequency phase of EFTFI, in rad; PH EFTF (ω) is the frequency phase of EFTF, in rad.

[0042] Further, the phase-frequency phase and amplitude-frequency gain of the engineering fastest lead observer within the range from the lower limit of frequency change to the upper limit of frequency change are calculated based on the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter and the amplitude-frequency gain and phase-frequency phase of the second-order inertia filter, including:

[0043] Get the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter:

[0044]

[0045] PH SOIF (ω)=-2atan(ωT SOIF );

[0046] In the formula, SOIF is a second-order inertial filter, T SOIF is the time constant of SOIF, in seconds; G FOIF (ω) is the amplitude-frequency gain of SOIF, unit is dimensionless; PH FOIF (ω) is the frequency phase of SOIF, in rad; atan is the inverse tangent function;

[0047] Calculate the phase-frequency phase and amplitude-frequency gain of the fastest engineering advance observer from the lower limit of frequency change to the upper limit of frequency change:

[0048] G EFLO (ω) = G EFTFI (ω)G SOIF (ω),

[0049] PH EFLO (ω)=PH EFTFI (ω)+PH SOIF (ω);

[0050] Where EFLO is the fastest engineering advance observer, EFTFI is the inverse of the fastest engineering advance observer, SOIF is the second-order inertial filter; G EFLO (ω) is the amplitude-frequency gain of EFLO, unit is dimensionless; G EFTFI (ω) is the amplitude-frequency gain of EFTFI, unit is dimensionless; G FOIF (ω) is the amplitude-frequency gain of SOIF, unit is dimensionless; PH EFLO (ω) is the frequency phase of EFLO, in rad; PH EFTFI (ω) is the phase frequency phase of EFTFI, in rad; PH SOIF (ω) is the frequency phase of SOIF, in rad.

[0051] Further, the phase lead efficiency of the engineering fastest lead observer is calculated according to the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer, including:

[0052]

[0053] Where PLE is the phase lead efficiency, unit is ° / dB; PH EFLO-GPV PH EFLO The peak value of (ω) is in rad; G EFLO-GPV G EFLO The peak value of (ω) is in dB; 360 / π represents the conversion from rad to °.

[0054] The present application also provides an engineering fastest advance observer parameter optimization system, comprising:

[0055] A construction unit is used to construct an engineering fastest tracking filter by connecting the inverse of the engineering fastest tracking filter in series with a second-order inertial filter to construct an engineering fastest lead observer;

[0056] The parameter setting unit is used to set the lower limit and the upper limit of the time constant change of the second-order inertia filter, set the initial second-order inertia filter time constant as the lower limit of the time constant change, and judge the size relationship between the second-order inertia filter time constant and the upper limit of the time constant change during the control process;

[0057] A phase lead efficiency calculation unit is used to calculate the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the frequency change lower limit to the frequency change upper limit of the engineering fastest lead observer if the current second-order inertial filter time constant is greater than or equal to the time constant change upper limit;

[0058] The parameter optimization unit is used to obtain the variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter, calculate the maximum value of the phase lead efficiency, and use the second-order inertia filter time constant corresponding to the maximum value of the phase lead efficiency as the optimal parameter of the engineering fastest lead observer.

[0059] Compared with the prior art, the beneficial effects of this application are:

[0060] The present application discloses a method and system for optimizing parameters of an engineering fastest lead observer, including setting a lower limit and an upper limit of a time constant change of a second-order inertial filter based on an engineering fastest lead observer, setting the initial second-order inertial filter time constant as the lower limit of the time constant change, judging whether the second-order inertial filter time constant is less than the upper limit of the time constant change during the control process; if not, calculating the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency phase peak and amplitude-frequency gain peak within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer; obtaining the variation characteristics of the phase lead efficiency with the time constant of the second-order inertial filter, calculating the maximum value of the phase lead efficiency, and using the second-order inertial filter time constant corresponding to the maximum value of the phase lead efficiency as the optimal parameter of the engineering fastest lead observer. The present application can optimize the parameters of the engineering fastest lead observer and improve the performance of the lead observer. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0062] Figure 1 It is a flow chart of a method for optimizing parameters of an engineering fastest advance observer provided in a certain embodiment of the present application;

[0063] Figure 2 It is a schematic diagram of the cascade structure of an engineering fastest advance observer provided in a certain embodiment of the present application;

[0064] Figure 3 It is a flow chart of a method for optimizing parameters of an engineering fastest advance observer provided by another embodiment of the present application;

[0065] Figure 4 The phase advance efficiency PLE provided by a certain embodiment of the present application varies with T SOIF Schematic diagram of the principle of changing characteristics;

[0066] Figure 5 It is a principle schematic diagram of the frequency characteristics of the engineering fastest lead observer EFLO under the optimal parameters provided by a certain embodiment of the present application;

[0067] Figure 6 A certain embodiment of the present application provides a FOIP =100s and the digital discrete interval is 0.1s, the comparative analysis diagram of the output of the fourth-order inertial process FOIP and the engineering fastest advance observer EFLO changing with time;

[0068] Figure 7It is a structural diagram of an engineering fastest advance observer parameter optimization system provided by a certain embodiment of the present application; DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0070] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0071] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0072] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0073] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0074] See also Figure 1 , a certain embodiment of the present application provides a method for optimizing parameters of an engineering fastest advance observer. Figure 1 As shown, the engineering fastest advance observer parameter optimization method includes steps S10 to S40. The specific steps are as follows:

[0075] S10. Use the inverse of the engineering fastest tracking filter and the second-order inertia filter to connect in series to construct the engineering fastest leading observer.

[0076] In this step, the engineering fastest tracking filter inverse (EFTFI) and the second-order inertial filter SOIF are connected in cascade, such as Figure 2 As shown. Among them, the input signal is specifically the process signal of the thermal power unit process control, such as the main steam pressure signal, the main steam temperature signal, etc. Specifically, EFLO is expressed as:

[0077] EFLO(s)=EFTFI(s)SOIF(s),

[0078]

[0079]

[0080]

[0081] T F =T EFLO ;

[0082] Wherein, EFLO is the engineering fastest lead observer, EFTFI is the engineering fastest tracking filter inverse, SOIF is the second-order inertial filter, EFTF is the engineering fastest tracking filter, EFLO(s) is the Laplace transfer function of EFLO, EFTFI(s) is the Laplace transfer function of EFTFI, SOIF(s) is the Laplace transfer function of SOIF, EFTF(s) is the Laplace transfer function of EFTF; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; T SOIF is the time constant of SOIF, in seconds; T EFLO is the time constant of EFLO, in seconds, and in terms of quantity, T F =T EFLO .

[0083] S20, setting a lower limit and an upper limit of a time constant change of a second-order inertia filter, setting an initial second-order inertia filter time constant as the lower limit of the time constant change, and determining a magnitude relationship between the second-order inertia filter time constant and the upper limit of the time constant change during a control process.

[0084] In this step, the given parameters of the engineering fastest leading observer EFLO include: the engineering fastest leading observer time constant T EFLO , the order n of EFTF and the time constant T of the fastest engineering tracking filter EFTF , where T F =T EFLO The parameters that need to be calculated are the frequency ω lower limit ω L With upper limit ω H ,ω changes in interval ω Δ ,ω fromω L to H Press ω Δ Continuous change, and the lower limit of the time constant change of the second-order inertial filter SOIF, that is, T SOIF Low limit T SOIF-L ; The upper limit of the time constant change, that is, T SOIF High limit TSOIF-H ; Time constant change interval, i.e. T SOIF Change interval T SOIF-Δ ; T SOIF From T SOIF-L to T SOIF-H Press T SOIF-Δ Continuous changes, such as Figure 3 shown.

[0085] Specifically, the initial second-order inertia filter time constant is first set as the time constant change lower limit, and then it is determined whether the second-order inertia filter time constant is less than the time constant change upper limit during the control process.

[0086] S30. If the current second-order inertial filter time constant is greater than or equal to the upper limit of the time constant change, the phase lead efficiency of the engineering fastest lead observer is calculated based on the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer.

[0087] In a specific implementation, before executing step S30, it is necessary to first calculate the phase-frequency peak value and the amplitude-frequency gain peak value of the engineering fastest advance observer within the range from the lower limit of the frequency change to the upper limit of the frequency change, which specifically includes the following steps:

[0088] 3.1) According to the real frequency gain and imaginary frequency gain of the engineering fastest tracking filter, the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter are calculated.

[0089] As a specific implementation, this step includes:

[0090] Get the real frequency gain of the engineering fastest tracking filter EFTF:

[0091]

[0092] Where EFTF is the fastest engineering tracking filter, R EFTF (ω) is the real frequency gain of EFTF, unit is dimensionless; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; ω is the frequency, in red / s; atan is the inverse tangent function;

[0093] Get the imaginary frequency gain of the engineering fastest tracking filter EFTF:

[0094]

[0095] Where EFTF is the fastest engineering tracking filter, I EFTF (ω) is the imaginary frequency gain of EFTF, unit is dimensionless; n is the order of EFTF, unit is dimensionless; TF is the time constant of EFTF, in seconds; ω is the frequency, in red / s; atan is the inverse tangent function;

[0096] Calculate the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter EFTF:

[0097]

[0098]

[0099] Where EFTF is the fastest engineering tracking filter, G EFTF (ω) is the amplitude-frequency gain of EFTF, unit is dimensionless; R EFTF (ω) is the real frequency gain of EFTF, unit is dimensionless; I EFTF (ω) is the imaginary frequency gain of EFTF, unit is dimensionless; PH EFTF (ω) is the frequency phase of EFTF, in rad; atan is the inverse tangent function.

[0100] 3.2) According to the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter, calculate the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter.

[0101] Specifically, according to the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter EFTF obtained in step 3.1), the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter inverse EFTFI are obtained using the following formula:

[0102]

[0103] PH EFTFI =-PH EFTF ;

[0104] Where EFTFI is the engineering fastest tracking filter inverse, EFTF is the engineering fastest tracking filter, G EFTFI (ω) is the amplitude-frequency gain of EFTFI, unit is dimensionless; G EFTF (ω) is the amplitude-frequency gain of EFTF, unit is dimensionless; PH EFTFI (ω) is the phase frequency phase of EFTFI, in rad; PH EFTF (ω) is the frequency phase of EFTF, in rad.

[0105] 3.3) Based on the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter and the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter, calculate the phase-frequency phase and amplitude-frequency gain of the engineering fastest advance observer within the range from the lower limit of frequency change to the upper limit of frequency change.

[0106] In this step, the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter SOIF are first obtained:

[0107]

[0108] PH SOIF (ω)=-2atan(ωT SOIF );

[0109] In the formula, SOIF is a second-order inertial filter, T SOIF is the time constant of SOIF, in seconds; G FOIF (ω) is the amplitude-frequency gain of SOIF, unit is dimensionless; PH FOIF (ω) is the frequency phase of SOIF, in rad; atan is the inverse tangent function;

[0110] Furthermore, according to the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter inverse EFTFI obtained in 3.2), combined with the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter SOIF just obtained, the phase-frequency phase and amplitude-frequency gain of the engineering fastest leading observer EFLO from the lower limit of frequency change to the upper limit of frequency change are calculated according to the following formula:

[0111] G EFLO (ω) = G EFTFI (ω)G SOIF (ω),

[0112] PH EFLO (ω)=PH EFTFI (ω)+PH SOIF (ω);

[0113] Where EFLO is the fastest engineering advance observer, EFTFI is the inverse of the fastest engineering advance observer, SOIF is the second-order inertial filter; G EFLO (ω) is the amplitude-frequency gain of EFLO, unit is dimensionless; G EFTFI (ω) is the amplitude-frequency gain of EFTFI, unit is dimensionless; G FOIF (ω) is the amplitude-frequency gain of SOIF, unit is dimensionless; PH EFLO (ω) is the frequency phase of EFLO, in rad; PH EFTFI (ω) is the phase frequency phase of EFTFI, in rad; PH SOIF (ω) is the frequency phase of SOIF, in rad.

[0114] 3.4) According to the phase-frequency phase and amplitude-frequency gain within the range from the lower limit of frequency change to the upper limit of frequency change of the engineering fastest advance observer, the corresponding phase-frequency phase peak value and amplitude-frequency gain peak value are determined respectively.

[0115] Finally, the phase lead efficiency of the engineering fastest lead observer is calculated based on the phase-frequency peak value and amplitude-frequency gain peak value of the engineering fastest lead observer EFLO obtained in step 3.4) from the lower limit of frequency change to the upper limit of frequency change.

[0116] S40, obtaining the variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter, calculating the maximum value of the phase lead efficiency, and using the second-order inertia filter time constant corresponding to the maximum value of the phase lead efficiency as the optimal parameter of the engineering fastest lead observer.

[0117] In this step, the phase lead efficiency PLE is calculated according to the following formula:

[0118]

[0119] Where PLE is the phase lead efficiency, unit is ° / dB; PH EFLO-GPV PH EFLO The peak value of (ω) is in rad; G EFLO-GPV G EFLO The peak value of (ω) is in dB; 360 / π represents the conversion from rad to °.

[0120] Finally, according to the PLE with T SOIF Change characteristics, obtain PLE with T SOIF The maximum value of the change, using PLE MAX Expressing the maximum value of PLE, PLE MAX The corresponding T SOIF represents the optimal parameters under the given parameters of EFLO, that is, the optimal T SOIF Parameters, use T SOIF-O Optimal expression T SOIF Parameters, T SOIF-O Represents the optimal parameters of EFLO.

[0121] In one embodiment, the engineering fastest advance observer parameter optimization method further includes:

[0122] If the time constant of the second-order inertia filter is less than the upper limit of the time constant change, the step of obtaining the change characteristic of the phase lead efficiency with the time constant of the second-order inertia filter is performed.

[0123] like Figure 3 As shown in the figure, when the time constant of the second-order inertia filter is less than the upper limit of the time constant change, the variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter can be directly obtained, the maximum value of the phase lead efficiency can be calculated, and the time constant of the second-order inertia filter corresponding to the maximum value of the phase lead efficiency can be used as the optimal parameter of the engineering fastest lead observer.

[0124] In one embodiment, after calculating the phase lead efficiency of the fastest engineering lead observer, the method further includes:

[0125] Set the current second-order inertia filter time constant to the previous second-order inertia filter time constant plus the second-order inertia filter time constant change interval;

[0126] Return to the step of executing judgment on the relationship between the time constant of the second-order inertia filter and the upper limit of the time constant change during the control process.

[0127] like Figure 3 As shown in the figure, after calculating the phase lead efficiency PLE, set T SOIF =T SOIF +T SOIF-Δ , and then return to the step of determining the relationship between the time constant of the second-order inertia filter and the upper limit of the time constant change during the control process.

[0128] In summary, the method for optimizing parameters of the fastest engineering leading observer provided in the embodiment of the present application can adjust the parameters of the second order inertia filter (SOIF) in the existing fastest engineering leading observer (EFLO) to maximize the phase leading efficiency (PLE) of the EFLO, and the SOIF parameters corresponding to the highest PLE represent the optimal parameters of the EFLO. By optimizing the parameters of the fastest engineering leading observer, the performance of the leading observer is improved.

[0129] To help understanding, specific numerical values ​​are also provided in a certain embodiment of the present application to illustrate the scheme of the present application:

[0130] To calculate the optimal parameters of EFLO, first the given parameters of EFLO are: T EFLO = 200s, EFTF n = 16, T F =T EFLO ; The calculation parameters are set as: T SOIF-L =2s, T SOIF-H =20s, T SOIF-Δ =0.1s,ω L =10 -5 rad / s,ω H =1rad / s,ω Δ =10 -6 rad / s, and PLE changes with T SOIF Changing characteristics, such as Figure 4 shown.

[0131] Depend on Figure 4It can be seen that PLE MAX =4.58° / dB, corresponding to T SOIF =12.8s, then the optimal EFLO parameter T SOIF-O =12.8s, and the frequency characteristics under the optimal EFLO parameters are obtained, such as Figure 5 As shown. Figure 5 , we can get (360 / π)PH EFLO-GPV =81.98°, G EFLO-GPV =17.9dB.

[0132] In another exemplary embodiment, according to the EFLO given parameters and EFLO optimal parameters given in the above embodiment, an EFLO advance observation experiment is performed on the output signal of a fourth-order inertial process.

[0133] Specifically, the fourth order inertia process (FOIP) is:

[0134]

[0135] Where FOIP is a fourth-order inertial process, FOIP(s) is the Laplace transfer function of FOIP; T FOIP is the time constant of FOIP, in seconds;

[0136] The FOIP input is a unit step signal, the FOIP output signal is connected to the EFLO input terminal, and the EFLO output signal is obtained at the EFLO output terminal.

[0137] In T FOIP = 100s, the digital discrete interval of the experiment is 0.1s, and the experimental results are as follows: Figure 6 shown.

[0138] Depend on Figure 6 It can be seen that PV FOIP (t) is the output of FOIP, PV EFLO (t) is the output of EFLO, and it can be seen that PV EFLO (t) is significantly ahead of PV FOIP (t), EFLO to PV FOIP (t) It has a good advance observation function.

[0139] See also Figure 7 In one embodiment of the present application, a parameter optimization system for an engineering fastest advance observer is provided, comprising:

[0140] A construction unit 01 is used to construct an engineering fastest tracking filter by connecting the inverse of the engineering fastest tracking filter and the second-order inertia filter in cascade to construct an engineering fastest leading observer;

[0141] The parameter setting unit 02 is used to set the lower limit and the upper limit of the time constant change of the second-order inertia filter, set the initial second-order inertia filter time constant as the lower limit of the time constant change, and judge the size relationship between the second-order inertia filter time constant and the upper limit of the time constant change during the control process;

[0142] The phase lead efficiency calculation unit 03 is used to calculate the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the frequency change lower limit to the frequency change upper limit of the engineering fastest lead observer if the current second-order inertial filter time constant is greater than or equal to the time constant change upper limit;

[0143] The parameter optimization unit 04 is used to obtain the variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter, calculate the maximum value of the phase lead efficiency, and use the second-order inertia filter time constant corresponding to the maximum value of the phase lead efficiency as the optimal parameter of the engineering fastest lead observer.

[0144] It can be understood that the engineering fastest lead observer parameter optimization system provided in this embodiment is used to execute the engineering fastest lead observer parameter optimization method described in any of the above embodiments and achieve the same effect, which will not be further described here.

[0145] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods when implementing them in actual applications. For example, multiple units or page components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0148] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for optimizing parameters of the fastest advance observer in engineering, It is characterized in that include: The engineering fastest tracking filter inverse is connected in cascade with the second-order inertia filter to construct the engineering fastest lead observer. Set the lower limit and upper limit of the time constant change of the second-order inertia filter, set the initial second-order inertia filter time constant as the lower limit of the time constant change, and determine the relationship between the second-order inertia filter time constant and the upper limit of the time constant change during the control process; If the current second-order inertial filter time constant is greater than or equal to the upper limit of the time constant change, the phase lead efficiency of the engineering fastest lead observer is calculated based on the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer; The variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter are obtained, the maximum value of the phase lead efficiency is calculated, and the time constant of the second-order inertia filter corresponding to the maximum value of the phase lead efficiency is used as the optimal parameter of the engineering fastest lead observer.

2. The method for optimizing parameters of an engineering fastest advance observer according to claim 1, It is characterized in that Also includes: If the time constant of the second-order inertia filter is less than the upper limit of the time constant change, the step of obtaining the change characteristic of the phase lead efficiency with the time constant of the second-order inertia filter is performed.

3. The method for optimizing parameters of an engineering fastest advance observer according to claim 1, It is characterized in that After the phase advance efficiency of the fastest advance observer of the engineering is calculated, the method further includes: Set the current second-order inertial filter time constant to the previous second-order inertial filter time constant plus the second-order inertial filter time constant change interval; Return to the step of executing judgment control process to determine the relationship between the time constant of the second-order inertia filter and the upper limit of the time constant change.

4. The method for optimizing parameters of an engineering fastest advance observer according to claim 1, It is characterized in that The method of utilizing the inverse of the engineering fastest tracking filter and the second-order inertia filter to connect in series to construct the engineering fastest leading observer includes: EFLO(s)=EFTFI(s)SOIF(s), T F =T EFLO ; Wherein, EFLO is the engineering fastest lead observer, EFTFI is the engineering fastest tracking filter inverse, SOIF is the second-order inertial filter, EFTF is the engineering fastest tracking filter, EFLO(s) is the Laplace transfer function of EFLO, EFTFI(s) is the Laplace transfer function of EFTFI, SOIF(s) is the Laplace transfer function of SOIF, EFTF(s) is the Laplace transfer function of EFTF; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; T SOIF is the time constant of SOIF, in seconds; T EFLO is the time constant of EFLO, in seconds, and in terms of quantity T F =T EFLO .

5. The method for optimizing parameters of an engineering fastest advance observer according to claim 1, It is characterized in that Before calculating the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer, the method further includes: According to the real frequency gain and imaginary frequency gain of the engineering fastest tracking filter, the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter are calculated; According to the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter, the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter are calculated; According to the amplitude-frequency gain and phase-frequency phase of the inverse of the fastest tracking filter of the engineering, the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter, the phase-frequency phase and amplitude-frequency gain of the fastest advance observer of the engineering are calculated from the lower limit of the frequency change to the upper limit of the frequency change; According to the phase-frequency phase and amplitude-frequency gain within the range from the lower limit of frequency change to the upper limit of frequency change of the engineering fastest advance observer, the corresponding phase-frequency phase peak value and amplitude-frequency gain peak value are determined respectively.

6. The method for optimizing parameters of the fastest advance observer according to claim 5, It is characterized in that The step of calculating the amplitude-frequency gain and the phase-frequency phase of the engineering fastest tracking filter according to the real frequency gain and the imaginary frequency gain of the engineering fastest tracking filter comprises: Get the real frequency gain of the engineering fastest tracking filter: Where EFTF is the fastest engineering tracking filter, R EFTF (ω) is the real frequency gain of EFTF, unit is dimensionless; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; ω is the frequency, in red / s; atan is the inverse tangent function; Get the imaginary frequency gain of the engineering fastest tracking filter: Where EFTF is the fastest engineering tracking filter, I EFTF (ω) is the imaginary frequency gain of EFTF, unit is dimensionless; n is the order of EFTF, unit is dimensionless; T F is the time constant of EFTF, in seconds; ω is the frequency, in red / s; atan is the inverse tangent function; Calculate the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter: Where EFTF is the fastest engineering tracking filter, G EFTF (ω) is the amplitude-frequency gain of EFTF, unit is dimensionless; R EFTF (ω) is the real frequency gain of EFTF, unit is dimensionless; I EFTF (ω) is the imaginary frequency gain of EFTF, unit is dimensionless; PH EFTF (ω) is the frequency phase of EFTF, in rad; atan is the inverse tangent function.

7. The method for optimizing parameters of an engineering fastest advance observer according to claim 6, It is characterized in that The step of calculating the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter according to the amplitude-frequency gain and phase-frequency phase of the engineering fastest tracking filter comprises: PH EFTFI =-PH EFTF ; Where EFTFI is the engineering fastest tracking filter inverse, EFTF is the engineering fastest tracking filter, G EFTFI (ω) is the amplitude-frequency gain of EFTFI, unit is dimensionless; G EFTF (ω) is the amplitude-frequency gain of EFTF, unit is dimensionless; PH EFTFI (ω) is the phase frequency phase of EFTFI, in rad; PH EFTF (ω) is the frequency phase of EFTF, in rad.

8. The method for optimizing parameters of an engineering fastest advance observer according to claim 7, It is characterized in that The phase-frequency phase and amplitude-frequency gain of the engineering fastest leading observer within the range from the lower limit of frequency change to the upper limit of frequency change are calculated according to the amplitude-frequency gain and phase-frequency phase of the inverse of the engineering fastest tracking filter and the amplitude-frequency gain and phase-frequency phase of the second-order inertia filter, including: Get the amplitude-frequency gain and phase-frequency phase of the second-order inertial filter: PH SOIF (ω)=-2atan(ωT SOIF ); In the formula, SOIF is a second-order inertial filter, T SOIF is the time constant of SOIF, in seconds; G FOIF (ω) is the amplitude-frequency gain of SOIF, unit is dimensionless; PH FOIF (ω) is the frequency phase of SOIF, in rad; atan is the inverse tangent function; Calculate the phase-frequency phase and amplitude-frequency gain of the fastest engineering advance observer from the lower limit of frequency change to the upper limit of frequency change: G EFLO (ω)=G EFTFI (ω)G SOIF (oh), PH EFLO (ω)=PH EFTFI (ω)+PH SOIF (ω); Where EFLO is the fastest engineering advance observer, EFTFI is the inverse of the fastest engineering advance observer, SOIF is the second-order inertial filter; G EFLO (ω) is the amplitude-frequency gain of EFLO, unit is dimensionless; G EFTFI (ω) is the amplitude-frequency gain of EFTFI, unit is dimensionless; G FOIF (ω) is the amplitude-frequency gain of SOIF, unit is dimensionless; PH EFLO (ω) is the frequency phase of EFLO, in rad; PH EFTFI (ω) is the phase frequency phase of EFTFI, in rad; PH SOIF (ω) is the frequency phase of SOIF, in rad.

9. The method for optimizing parameters of an engineering fastest advance observer according to claim 8, It is characterized in that The phase lead efficiency of the engineering fastest lead observer is calculated according to the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the lower limit of the frequency change to the upper limit of the frequency change of the engineering fastest lead observer, including: Where PLE is the phase lead efficiency, unit is ° / dB; PH EFLO-GPV PH EFLO The peak value of (ω) is in rad; G EFLO-GPV G EFLO The peak value of (ω) is in dB; 360 / π represents the conversion from rad to °.

10. An engineering fastest advance observer parameter optimization system, It is characterized in that include: A construction unit is used to construct an engineering fastest tracking filter by connecting the inverse of the engineering fastest tracking filter in series with a second-order inertial filter to construct an engineering fastest lead observer; The parameter setting unit is used to set the lower limit and the upper limit of the time constant change of the second-order inertia filter, set the initial second-order inertia filter time constant as the lower limit of the time constant change, and judge the size relationship between the second-order inertia filter time constant and the upper limit of the time constant change during the control process; A phase lead efficiency calculation unit is used to calculate the phase lead efficiency of the engineering fastest lead observer according to the phase-frequency phase peak value and the amplitude-frequency gain peak value within the range from the frequency change lower limit to the frequency change upper limit of the engineering fastest lead observer if the current second-order inertial filter time constant is greater than or equal to the time constant change upper limit; The parameter optimization unit is used to obtain the variation characteristics of the phase lead efficiency with the time constant of the second-order inertia filter, calculate the maximum value of the phase lead efficiency, and use the second-order inertia filter time constant corresponding to the maximum value of the phase lead efficiency as the optimal parameter of the engineering fastest lead observer.

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