Adjustable acceleration device for process signals and adjustable acceleration observation method

Abstract

The present application discloses an adjustable acceleration device for process signals and an adjustable acceleration observation method. Through the positive adjustable acceleration unit, the process signal is subjected to positive adjustable acceleration to generate a positive acceleration signal; and through the negative adjustable acceleration unit, the process signal is subjected to negative adjustable acceleration to generate a negative acceleration signal; finally, through the addition unit, an addition operation is performed on the positive acceleration signal and the negative acceleration signal to generate a target acceleration signal corresponding to the process signal. The adjustable acceleration device for process signals of the present application performs bidirectional adjustable acceleration on the process signal through the positive adjustable acceleration unit and the negative adjustable acceleration unit to achieve different leading observation effects of adjusting the limit value to select the process signal, so as to meet the control requirements of different control systems and the control requirements of different time periods of the same control system, and at the same time cooperate with the addition unit to achieve bidirectional acceleration observation of the process signal.

Description

Technical Field

[0001] The present application relates to the technical field of process control for thermal power units, and particularly to an adjustable acceleration device for process signals and an adjustable acceleration observation method. Background Art

[0002] In the field of process control for thermal power units, accelerating the observation of process signals plays an important role in improving the process control performance of thermal power units. Currently, there are mainly acceleration observation methods based on differentiators, PD controllers, phase lead compensators, or high-performance lead observers. However, the lead observation effect of the current acceleration observation methods cannot meet the existing observation requirements. For example, for the primary air temperature control system applied to thermal power units, the set value of the primary air temperature needs to be adjusted at any time with the changes of factors such as seasons and grid loads. The fixed lead observation method cannot effectively meet the control effect of the primary air temperature. Summary of the Invention

[0003] The present application provides an adjustable acceleration device for process signals and an adjustable acceleration observation method to solve the technical problem that the lead observation effect of the current acceleration observation methods cannot meet the existing adjustable observation requirements.

[0004] To solve the above technical problem, in a first aspect, the present application provides an adjustable acceleration device for process signals, including a positive adjustable acceleration unit, a negative adjustable acceleration unit, and an addition unit;

[0005] The positive adjustable acceleration unit is configured to perform positive adjustable acceleration on the process signal to generate a positive acceleration signal;

[0006] The negative adjustable acceleration unit is configured to perform negative adjustable acceleration on the process signal to generate a negative acceleration signal;

[0007] The addition unit is configured to perform an addition operation on the positive acceleration signal and the negative acceleration signal to generate a target acceleration signal corresponding to the process signal.

[0008] Preferably, the positive adjustable acceleration unit includes a first positive feedback accelerator, a first differentiator, and a positive output controller;

[0009] The first positive feedback accelerator is configured to perform adjustable acceleration on the process signal based on an adjustable high limit value to generate a first acceleration signal;

[0010] The first differentiator and the positive output controller are configured to extract the positive acceleration signal from the first acceleration signal.

[0011] Preferably, the first positive feedback accelerator includes a first positive feedback link, a first integrator, and a first integral limiter;

[0012] The first positive feedback loop is used to control the acceleration of the first integrator;

[0013] The first integrator is used to accelerate the process signal;

[0014] The first integral limiter is used to limit the output signal of the first integrator according to the adjustable high limit value.

[0015] Preferably, the first integral limiter is:

[0016]

[0017] where IA(t) is the output signal of the first integrator, P(t) is the process signal, T IA is the integration time constant of the first integrator, and V AHA is the adjustable high limit value of the first integral limiter.

[0018] Preferably, the negative adjustable acceleration unit includes a second positive feedback accelerator, a second differentiator, and a negative output controller;

[0019] The second positive feedback accelerator is used to perform adjustable acceleration on the process signal based on the adjustable low limit value to generate a second acceleration signal;

[0020] The second differentiator and the negative output controller are used to extract the negative acceleration signal from the second acceleration signal.

[0021] Preferably, the second positive feedback accelerator includes a second positive feedback loop, a second integrator, and a second integral limiter;

[0022] The second positive feedback loop is used to control the acceleration of the second integrator;

[0023] The second integrator is used to accelerate the process signal;

[0024] The second integral limiter is used to limit the output signal of the second integrator according to the adjustable low limit value.

[0025] Preferably, the second integral limiter is:

[0026]

[0027] where IB(t) is the output signal of the second integrator, P(t) is the process signal, T IB is the integration time constant of the second integrator, and V ALB is the adjustable low limit value of the second integral limiter.

[0028] Preferably, the addition unit is:

[0029] OA(t) = DOC(t) + NOC(t);

[0030] where OA(t) is the target acceleration signal output by the addition unit, DOC(t) is the positive acceleration signal output by the positive adjustable acceleration unit, and NOC(t) is the negative acceleration signal output by the negative adjustable acceleration unit.

[0031] In a second aspect, the present application also provides an adjustable acceleration observation method for process signals, including:

[0032] Input a unit step input signal into a fifth-order inertial process to obtain a process signal;

[0033] Input the process signal into the adjustable acceleration device for process signals as described in the first aspect to obtain a target acceleration signal.

[0034] Preferably, the fifth-order inertial process is:

[0035]

[0036] where FOIP(s) is the transfer function of the fifth-order inertial process, T FOIP is the time constant of the fifth-order inertial process, and s is the Laplace operator.

[0037] Compared with the prior art, the present application has at least the following beneficial effects:

[0038] Through the positive adjustable acceleration unit, the process signal is positively adjustable accelerated to generate a positive acceleration signal; and through the negative adjustable acceleration unit, the process signal is negatively adjustable accelerated to generate a negative acceleration signal; finally, through the addition unit, an addition operation is performed on the positive acceleration signal and the negative acceleration signal to generate the target acceleration signal corresponding to the process signal. The adjustable acceleration device for process signals of the present application performs two-way adjustable acceleration on the process signal through the positive adjustable acceleration unit and the negative adjustable acceleration unit to achieve different leading observation effects of adjusting the limit value to select the process signal, so as to meet the control requirements of different control systems and the control requirements under different time periods or factors of the same control system, and at the same time cooperate with the addition unit to achieve two-way acceleration observation of the process signal. For example, the primary air temperature control system can adjust the limit value at any time to be able to observe the acceleration effect under different seasons or grid loads and other factors, realizing adjustable acceleration observation effect, so as to meet the acceleration observation requirements of different control systems.

[0039] In addition, in the present application, the output of the integral accelerator is directly conditionally limited by an integral limiter to achieve adjustable acceleration. In cooperation with an adder unit, the problem of low observation performance of the current leading observation method is solved, the acceleration observation effect is improved, thereby effectively suppressing the primary air temperature deviation and improving the air temperature control effect of the primary air temperature control system of the thermal power unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 FIG. is a schematic structural diagram of an adjustable acceleration device for a process signal shown in an embodiment of the present application;

[0041] Figure 2 FIG. is a schematic structural diagram of an adjustable acceleration device for a process signal shown in another embodiment of the present application;

[0042] Figure 3 FIG. is a schematic diagram of the signal flow of an adjustable acceleration observation method shown in an embodiment of the present application;

[0043] Figure 4 FIG. is a schematic diagram of the output result of an adjustable acceleration observation method shown in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0045] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0046] The terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0047] The term " / and / " refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0048] Any process or method description represented in a flowchart or described otherwise herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0049] The logic and / or steps represented in a flowchart or described otherwise herein, for example, can be considered a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0050] Please refer to Figure 1 , Figure 1 FIG. [X] is a schematic structural diagram of an adjustable acceleration device for a process signal provided by an embodiment of the present application. The adjustable acceleration device for a process signal in the embodiment of the present application can be integrated into a computer device, and the computer device includes, but is not limited to, devices such as smart phones, laptop computers, tablet computers, desktop computers, physical servers, and cloud servers. As Figure 1 shown, the adjustable acceleration device for a process signal (Process signal adjustable accelerator, PSAA) in this embodiment includes a positive adjustable acceleration unit 11, a negative adjustable acceleration unit 12, and an addition unit 13;

[0051] The positive adjustable acceleration unit 11 is configured to perform positive adjustable acceleration on the process signal to generate a positive acceleration signal;

[0052] The negative adjustable acceleration unit 12 is configured to perform negative adjustable acceleration on the process signal to generate a negative acceleration signal;

[0053] The addition unit 13 is configured to perform an addition operation on the positive acceleration signal and the negative acceleration signal to generate a target acceleration signal corresponding to the process signal.

[0054] In this embodiment, as Figure 1As shown, the process signal is respectively input into the positive adjustable acceleration unit 11 and the negative adjustable acceleration unit 12 to perform two-way acceleration on the process signal. Then, the positive acceleration signal output by the positive adjustable acceleration unit 11 and the negative acceleration signal output by the negative adjustable acceleration unit 12 are input into the addition unit 13 for addition operation to obtain the target acceleration signal after two-way acceleration of the process signal, so that the positive and negative signals in the process signal can be output in advance, achieving the two-way acceleration effect, and further effectively suppressing the signal deviation.

[0055] At the same time, this embodiment can adjust the limit value to select different leading observation effects of the process signal, so as to meet the control requirements of different control systems and the control requirements under different time periods or factors of the same control system. At the same time, it cooperates with the addition unit to realize the two-way acceleration observation of the process signal. For example, the primary air temperature control system can adjust the limit value at any time to observe the acceleration effect under different seasons or grid loads and other factors, realizing the adjustable acceleration observation effect, so as to meet the acceleration observation requirements of different control systems.

[0056] In some embodiments, Figure 2 The structural schematic diagram of the adjustable acceleration device for the process signal provided by another embodiment is shown.

[0057] Optionally, as Figure 2 shown, the positive adjustable acceleration unit 11 includes a first positive feedback accelerator 111, a first differentiator 112, and a positive output controller 113;

[0058] The first positive feedback accelerator 111 is used to perform adjustable acceleration on the process signal based on the adjustable high limit value to generate a first acceleration signal;

[0059] The first differentiator 112 and the positive output controller 113 are used to extract the positive acceleration signal from the first acceleration signal.

[0060] In this embodiment, the first positive feedback accelerator 111 can be implemented based on an integral function, so the first acceleration signal output by the first positive feedback accelerator 111 is an integral signal. Therefore, the first differentiator 112 performs signal conversion on the first acceleration signal to extract the differential signal, and then the positive output controller 113 extracts the positive signal in the differential signal to output the positive acceleration signal. Among them, the first positive feedback accelerator has an adjustable high limit value to achieve adjustable acceleration of the positive signal with an upward trend in the process signal.

[0061] Optionally, as Figure 2 shown, the first positive feedback accelerator 111 includes a first positive feedback link 1111, a first integrator 1112, and a first integral limiter 1113;

[0062] The first positive feedback link 1111 is used to control the acceleration of the first integrator;

[0063] The first integrator 1112 is used to accelerate the process signal;

[0064] The first integral limiter 1113 is used to limit the amplitude of the output signal of the first integrator according to the adjustable high limit value.

[0065] In this embodiment, as Figure 2 shown, the output end of the first positive feedback link 1111 is connected to the input end of the first differentiator 112 and the input end of the first integrator 1112, so as to input the process signal into the first integrator 1112 for acceleration. The first integrator 1112 outputs the accelerated signal to the first positive feedback link 1111. When the first positive feedback link 1111 confirms that the acceleration of the process signal is completed, it outputs the signal accelerated by the first integrator 1112 to the first differentiator 112.

[0066] Among them, the first integrator 1112 is connected to the first integral limiter 1113 to limit the amplitude of the signal output by the first integrator 1112 when the first integrator 1112 accelerates the process signal. The high limit value of the first integral limiter 1113 is adjustable to achieve the positive adjustable acceleration of the process signal.

[0067] Optionally, the function expression of the first integrator is:

[0068]

[0069] Among them, IA(s) is the transfer function of the first integrator, and T IA is the integral time constant of the first integrator, with the unit of second.

[0070] Optionally, the function expression of the first integral limiter is:

[0071]

[0072] IA is the integral time constant of the first integrator, and V AHA is the adjustable high limit value of the first integral limiter, with the unit of dimensionless.

[0073] Optionally, the function expression of the first differentiator is:

[0074]

[0075] where DA(s) is the transfer function of the first differentiator, s is the Laplace operator, T DA is the differentiation time constant of the first differentiator, with the unit of seconds, and K DA is the differentiation gain of the first differentiator, with the unit of dimensionless.

[0076] Optionally, the functional expression of the positive output controller is:

[0077]

[0078] where DOC(t) is the output signal of the positive output controller, and DA(t) is the output signal of the first differentiator.

[0079] Optionally, as Figure 2 shown, the negative adjustable acceleration unit 12 includes a second positive feedback accelerator 121, a second differentiator 122, and a negative output controller 123;

[0080] The second positive feedback accelerator 121 is configured to perform adjustable acceleration on the process signal based on an adjustable lower limit value to generate a second acceleration signal;

[0081] The second differentiator 122 and the negative output controller 123 are configured to extract the negative acceleration signal from the second acceleration signal.

[0082] In this embodiment, the second positive feedback accelerator 121 can be implemented based on an integral function. Therefore, the second acceleration signal output by the second positive feedback accelerator 121 is an integral signal. Thus, the second differentiator 122 performs signal conversion on the second acceleration signal to extract a differential signal, and then the positive output controller 123 extracts the positive signal from the differential signal to output a positive acceleration signal. Among them, the second positive feedback accelerator has an adjustable upper limit value to achieve adjustable acceleration of the positive signal with an upward trend in the process signal.

[0083] Optionally, as Figure 2 shown, the second positive feedback accelerator includes a second positive feedback link, a second integrator, and a second integral limiter;

[0084] The second positive feedback link is configured to control the second integrator to accelerate;

[0085] The second integrator is configured to accelerate the process signal;

[0086] The second integral limiter is configured to limit the output signal of the second integrator according to the adjustable lower limit value.

[0087] In this embodiment, as Figure 2As shown, the output end of the second positive feedback link 1211 is connected to the input end of the second differentiator 122 and the input end of the second integrator 1212, so as to input the process signal into the second integrator 1212 for acceleration. The second integrator 1212 outputs the accelerated signal to the second positive feedback link 1211. When the second positive feedback link 1211 confirms that the acceleration of the process signal is completed, it outputs the signal accelerated by the second integrator 1212 to the second differentiator 122.

[0088] Among them, the second integrator 1212 is connected to the second integral limiter 1213 to limit the signal output by the second integrator 1212 when the second integrator 1212 accelerates the process signal. The lower limit value of the second integral limiter 1213 is adjustable to achieve negative adjustable acceleration of the process signal.

[0089] Optionally, the function expression of the second integrator is:

[0090]

[0091] Among them, IB(s) is the transfer function of the second integrator, s is the Laplace operator, and T IB is the integration time constant of the second integrator, and the unit is second.

[0092] Optionally, the function expression of the second integral limiter is:

[0093]

[0094] Among them, IB(t) is the output signal of the second integrator, P(t) is the process signal, and T IB is the integration time constant of the second integrator, and the unit is second. V ALB is the adjustable lower limit value of the second integral limiter, and the unit is dimensionless.

[0095] Optionally, the function expression of the second differentiator is:

[0096]

[0097] Among them, DB(s) is the transfer function of the second differentiator, s is the Laplace operator, and T DB is the differentiation time constant of the second differentiator, and the unit is second. K DB is the differentiation gain of the second differentiator, and the unit is dimensionless.

[0098] Optionally, the function expression of the negative output controller is:

[0099]

[0100] Among them, NOC(t) is the output signal of the negative output controller, and DB(t) is the output signal of the second differentiator.

[0101] Optionally, the functional expression of the addition unit 13 is:

[0102] OA(t) = DOC(t) + NOC(t);

[0103] Among them, OA(t) is the target acceleration signal output by the addition unit, DOC(t) is the positive acceleration signal output by the positive adjustable acceleration unit, and NOC(t) is the negative acceleration signal output by the negative adjustable acceleration unit.

[0104] Please refer to Figure 3 , the embodiment of the present application also provides an adjustable acceleration observation method for process signals, such as Figure 3 shown in the signal flow diagram of the adjustable acceleration observation method, the method includes:

[0105] Input the unit step input signal into the fifth-order inertial process to obtain the process signal;

[0106] Input the process signal into the adjustable acceleration device for process signals as described in Figure 1 or Figure 2 to obtain the target acceleration signal.

[0107] In this embodiment, the fifth-order inertial process (Five order inertia process, FOIP) is used to extract the process signal from the unit step input signal, and the adjustable acceleration device PSAA for process signals is used to perform acceleration observation on the process signal.

[0108] Optionally, the fifth-order inertial process is:

[0109]

[0110] Among them, FOIP(s) is the transfer function of the fifth-order inertial process, T FOIP is the time constant of the fifth-order inertial process, and s is the Laplace operator.

[0111] Optionally, applying the adjustable acceleration device for process signals to the primary air temperature control system, then the process signal is the deviation signal between the primary air temperature signal and the primary air temperature set signal of the primary air temperature control system, so as to use the adjustable acceleration device for process signals to make the primary air temperature control system output the target acceleration signal in advance, improve the acceleration effect of the primary air temperature control system, thereby reducing the primary air temperature control deviation caused by the signal deviation between the primary air temperature signal and the primary air temperature set signal, and further improving the primary air temperature control effect of the primary air temperature system.

[0112] Exemplarily, at T IA = T IB = 100 s, T DA = T DB = 100 s, K DA = K DB = 8, T FOIP = 100 s; V AHA takes 0.05, 0.1, and 0.15 respectively, corresponding to V ALB takes -0.05, -0.1, and -0.15 respectively. The input of FOIP is a unit step input signal, and the output results of the adjustable acceleration device PSAA of the process signal are obtained.

[0113] As Figure 4 shown, at t = 0 s, the input signal is a unit positive step signal, and at t = 1200 s, the input signal changes to a unit negative step. PV FOIP (t) is the process output signal of the 5th-order inertial process FOIP under a unit step input, and PV1 PSAA (t) is the output result of the adjustable acceleration device PSAA of the process signal when V AHA = 0.15 and V ALB = -0.15; PV2 PSAA (t) is the output result of the adjustable acceleration device PSAA of the process signal when V AHA = 0.1 and V ALB = -0.1; Pv3 PSAA (t) is the output result of the adjustable acceleration device PSAA of the process signal when V AHA = 0.05 and V ALB = -0.05.

[0114] It can be seen from Figure 4 that the output signals PV1 PSAA (t), PV2 PSAA (t), PV3 PSAA (t) of the adjustable acceleration device PSAA of the process signal are significantly ahead of the process output signal PV FOIP (t), realizing the acceleration observation of the positive and negative bidirectional signals of the process signal, and realizing different acceleration observation effects according to the adjustable limit value of the integral limiter.

[0115] In several embodiments provided by this application, it can be understood that each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, the program segment, or the part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.

[0116] If the described functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a terminal device to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, and other various media that can store program codes.

[0117] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only specific embodiments of this application and is not used to limit the protection scope of this application. It is particularly pointed out that for those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application should be included in the protection scope of this application.

Claims

1. An adjustable acceleration device for process signals, characterized in that, It includes a positive adjustable acceleration unit, a negative adjustable acceleration unit, and an addition unit; The positive adjustable acceleration unit is used to perform positive adjustable acceleration on the process signal to generate a positive acceleration signal; the positive adjustable acceleration unit includes a first positive feedback accelerator, a first differentiator, and a positive output controller; The first positive feedback accelerator is used to perform adjustable acceleration on the process signal based on an adjustable upper limit value to generate a first acceleration signal; The first differentiator and the positive output controller are used to extract the positive acceleration signal from the first acceleration signal; The negative adjustable acceleration unit is used to perform negative adjustable acceleration on the process signal to generate a negative acceleration signal; The negative adjustable acceleration unit includes a second positive feedback accelerator, a second differentiator, and a negative output controller; The second positive feedback accelerator is used to perform adjustable acceleration on the process signal based on an adjustable lower limit value to generate a second acceleration signal; The second differentiator and the negative output controller are used to extract the negative acceleration signal from the second acceleration signal; The addition unit is used to perform an addition operation on the positive acceleration signal and the negative acceleration signal to generate a target acceleration signal corresponding to the process signal.

2. The adjustable acceleration device for process signals according to claim 1, characterized in that, The first positive feedback accelerator includes a first positive feedback link, a first integrator, and a first integral limiter; The first positive feedback link is used to control the acceleration of the first integrator; The first integrator is used to accelerate the process signal; The first integral limiter is used to limit the output signal of the first integrator according to the adjustable upper limit value.

3. The adjustable acceleration device for process signals according to claim 2, characterized in that, The first integral limiter is: where IA(t) is the output signal of the first integrator, P(t) is the process signal, T IA is the integration time constant of the first integrator, and V AHA is the adjustable upper limit value of the first integral limiter.

4. The adjustable acceleration device for process signals as claimed in claim 1, wherein, The second positive feedback accelerator includes a second positive feedback link, a second integrator, and a second integral limiter; The second positive feedback link is used to control the acceleration of the second integrator; The second integrator is used to accelerate the process signal; The second integral limiter is used to limit the output signal of the second integrator according to the adjustable lower limit value.

5. The adjustable acceleration device for process signals according to claim 4, characterized in that, The second integral limiter is: Wherein, IB(t) is the output signal of the second integrator, P(t) is the process signal, T IB is the integration time constant of the second integrator, V ALB is the adjustable lower limit value of the second integral limiter.

6. The adjustable acceleration device for process signals according to claim 1, characterized in that, The addition unit is: OA(t) = DOC(t) + NOC(t); where, OA(t) is the target acceleration signal output by the addition unit, DOC(t) is the positive acceleration signal output by the positive adjustable acceleration unit, and NOC(t) is the negative acceleration signal output by the negative adjustable acceleration unit.

7. An adjustable acceleration observation method for process signals, characterized in that, It includes: Input a unit step input signal into a fifth-order inertial process to obtain a process signal; Input the process signal into the adjustable acceleration device for the process signal according to any one of claims 1 to 6 to obtain a target acceleration signal.

8. The adjustable acceleration observation method for process signals according to claim 7, wherein The fifth-order inertial process is: Among them, FOIP(s) is the transfer function of a fifth-order inertial process, T FOIP is the time constant of the fifth-order inertial process, and s is the Laplace operator.

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