A method and device for generating an integral action enhancer

Abstract

The present invention discloses a method and device for generating an integral action enhancer. The method comprises: inputting an input signal into a first-order inertial filter, outputting a first processing result; wherein the input signal includes a signal from a secondary superheated steam temperature control system of a thermal power unit, and a deviation signal between a secondary superheated steam temperature set signal and the secondary superheated steam temperature; inputting the first processing result into a limiting integrator and an integral output absolute value limiter, respectively, wherein the limiting integrator outputs a second processing result; and adding the input signal and the second processing result to generate an integral action enhancer. The embodiments of the present invention can improve the performance of eliminating steady-state deviations in the system while maintaining structural stability.

Description

Technical Field

[0001] The present invention relates to the field of industrial control technology, and in particular to a method and device for generating an integral action enhancer. Background Art

[0002] Proportional-Integral-Derivative (PID) control is widely used in the process control practice of thermal power plants. From the perspective of observation, the P action (Proportional), I action (Integral), and D action (Derivative) in PID represent the three basic observation mechanisms in feedback control. Specifically, the P action is the current observation mechanism, the I action is the constant observation mechanism, and the D action is the lead observation mechanism. The so-called constant is the zero-frequency signal. The ideal zero-frequency signal does not exist. In actual control, the constant can be understood as a system steady-state deviation. To a large extent, the performance of the constant observation determines the performance of eliminating the system steady-state deviation.

[0003] The performance of eliminating the steady-state deviation of the system depends on the zero-frequency gain of the controller, but the zero-frequency gain of a conventional integrator is infinite. The existing technology proposes to use the zero-frequency gain relative to the conventional integrator, that is, the relative zero-frequency gain, to measure the performance of eliminating the steady-state deviation of the system. Obviously, the result of combining the PI controller with the conventional integrator is a significant improvement in the relative zero-frequency gain, but the stability of this structure is poor. Summary of the Invention

[0004] The embodiment of the present invention provides a method and device for generating an integral action enhancer. When the generated integral action enhancer is used in combination with a PI controller, the performance of eliminating the steady-state deviation of the system can be improved while ensuring structural stability.

[0005] A first aspect of an embodiment of the present application provides a method for generating an integral action enhancer, comprising:

[0006] After inputting the input signal into the first-order inertial filter, a first processing result is output; wherein the input signal includes: a signal of a secondary superheated steam temperature control system of a thermal power unit, a deviation signal between a secondary superheated steam temperature given signal and a secondary superheated steam temperature;

[0007] inputting the first processing result into a clipping integrator and an integral output absolute value clipper respectively, wherein the clipping integrator outputs a second processing result;

[0008] After adding the input signal and the second processing result, an integral action enhancer is generated.

[0009] In a possible implementation of the first aspect, a transfer function of the first-order inertia filter is specifically:

[0010] ;

[0011] in, FOIF ( s ) is the transfer function of the first-order inertial filter FOIF; s is the Laplace operator, K FOIF is the gain of FOIF, unit is dimensionless; T FOIF is the time constant of FOIF, in s.

[0012] In a possible implementation manner of the first aspect, the transfer function of the limiting integrator is specifically:

[0013] ;

[0014] in, LAI ( s ) is the transfer function of the limiting integrator LAI; T LAI is the integration time constant of LAI, in s.

[0015] In a possible implementation manner of the first aspect, the output signal of the integral output absolute value limiter is:

[0016] ;

[0017] in, LAI ( t ) is the output signal of the integral output absolute value limiter LAI; FOIF ( t ) is the output signal of the first-order inertial filter FOIF.

[0018] In a possible implementation manner of the first aspect, a transfer function of the integral action enhancer is:

[0019] ;

[0020] in, IAE ( s ) is the transfer function of the integral action enhancer IAE; set T FOIF =0.05 T LAI .

[0021] In a possible implementation of the first aspect, the method further includes:

[0022] A new controller is generated based on the integral action enhancer and the PI controller. The transfer function of the PI controller is:

[0023] ;

[0024] in, PI ( s ) is the transfer function of the PI controller; K PI is the gain of the cascade proportional controller, unit is dimensionless; T I is the integration time constant of the integrator, in s.

[0025] In a possible implementation of the first aspect, a transfer function of the new controller is specifically:

[0026] ;

[0027] in, NC ( s ) is the transfer function of the new controller NC.

[0028] A second aspect of an embodiment of the present application provides a generating device for an integral action enhancer, comprising: a first processing module, a second processing module, and a generating module;

[0029] The first processing module is configured to input an input signal into a first-order inertial filter and output a first processing result; wherein the input signal includes: a signal of a secondary superheated steam temperature control system of a thermal power unit, a deviation signal between a secondary superheated steam temperature set signal and a secondary superheated steam temperature;

[0030] The second processing module is used to input the first processing result into the limiting integrator and the integral output absolute value limiter respectively, wherein the limiting integrator outputs the second processing result;

[0031] The generating module is used to generate an integral action enhancer after combining the input signal with the second processing result.

[0032] A third aspect of an embodiment of the present application provides a mobile terminal including a processor and a memory, wherein the memory stores computer-readable program code, and when the processor executes the computer-readable program code, the steps of the above-mentioned method for generating an integral action enhancer are implemented.

[0033] A fourth aspect of an embodiment of the present application provides a storage medium storing a computer-readable program code. When the computer-readable program code is executed, the steps of the above-mentioned method for generating an integral action enhancer are performed.

[0034] Compared to the prior art, embodiments of the present invention provide a method and device for generating an integral action enhancer. The method includes: inputting an input signal into a first-order inertial filter and outputting a first processing result; wherein the input signal includes: a signal of a secondary superheated steam temperature control system of a thermal power unit, a secondary superheated steam temperature set signal, and a deviation signal between the secondary superheated steam temperature; inputting the first processing result into a limiting integrator and an integral output absolute value limiter, respectively, wherein the limiting integrator outputs a second processing result; and generating an integral action enhancer by adding the input signal and the second processing result.

[0035] The beneficial effect lies in that, after the input signal is fed into a first-order inertial filter, it is then fed into a clipping integrator and an integral output absolute value limiter, respectively. The output of the clipping integrator is then added to the input signal, resulting in the final output signal representing the transfer function of the integral action enhancer. The integral action enhancer generated by this embodiment of the present invention addresses the poor structural stability issue associated with combining a PI controller with a conventional integrator in the prior art. Combining this integral action enhancer with a PI controller improves the performance of eliminating steady-state deviations in the system while maintaining structural stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 1 is a flow chart of a method for generating an integral action enhancer provided by one embodiment of the present invention;

[0037] Figure 2 1 is a schematic structural diagram of an integral action intensifier provided by one embodiment of the present invention;

[0038] Figure 3 1 is a schematic diagram of experimental results of an integral action enhancer provided by one embodiment of the present invention;

[0039] Figure 4 It is a structural schematic diagram of a two-stage superheated steam temperature control system provided by one embodiment of the present invention;

[0040] Figure 5 This is a comparison chart of simulation experiment results provided by an embodiment of the present invention;

[0041] Figure 6 It is a structural schematic diagram of a generating device of an integral action enhancer provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] Reference Figure 1 , Figure 1 1 is a flow chart of a method for generating an integral action enhancer provided by one embodiment of the present invention, including S101-S103:

[0044] S101: After inputting the input signal into the first-order inertia filter, a first processing result is output.

[0045] The input signals include: a signal of a secondary superheated steam temperature control system of a thermal power unit, a secondary superheated steam temperature given signal and a deviation signal of the secondary superheated steam temperature.

[0046] In this embodiment, the transfer function of the first-order inertia filter is specifically:

[0047] ;

[0048] in, FOIF ( s ) is the transfer function of the first-order inertial filter FOIF; s is the Laplace operator, K FOIF is the gain of FOIF, unit is dimensionless; T FOIF is the time constant of FOIF, in s.

[0049] S102: Input the first processing result into a clipping integrator and an integral output absolute value clipper respectively, wherein the clipping integrator outputs a second processing result.

[0050] In this embodiment, the transfer function of the limiting integrator is specifically:

[0051] ;

[0052] in, LAI ( s ) is the transfer function of the limiting integrator LAI; T LAI is the integration time constant of LAI, in s.

[0053] In a specific embodiment, the output signal of the integral output absolute value limiter is:

[0054] ;

[0055] in, LAI ( t ) is the output signal of the integral output absolute value limiter LAI; FOIF ( t ) is the output signal of the first-order inertial filter FOIF.

[0056] S103: Add the input signal and the second processing result to generate an integral action enhancer.

[0057] In this embodiment, the transfer function of the integral action enhancer is:

[0058] ;

[0059] in, IAE ( s ) is the transfer function of the integral action enhancer IAE; setting T FOIF =0.05 T LAI .

[0060] In a specific embodiment, it further includes:

[0061] A novel controller is generated by combining the integral action enhancer with the PI controller; wherein the transfer function of the PI controller is specifically:

[0062] ;

[0063] in, PI ( s ) is the transfer function of the PI controller; K PI is the gain of the cascade proportional controller, unit is dimensionless; T I is the integration time constant of the integrator, in s.

[0064] In a specific embodiment, the transfer function of the novel controller is:

[0065] ;

[0066] Among them, N C ( s ) is the transfer function of the novel controller NC.

[0067] Furthermore, the control process of the novel controller NC is specifically as follows:

[0068] ;

[0069] in, CP ( s ) is the transfer function of the control process CP (i.e., Control process); s is the Laplace operator; T CP is the CP time constant, in s.

[0070] To further explain the structure of the integral action enhancer, please refer to Figure 2 , Figure 2 1 is a schematic structural diagram of an integral action enhancer provided in one embodiment of the present invention.

[0071] Depend on Figure 2 It can be obtained that after the input signal is input into the first-order inertial filter, it is respectively input into the limiting integrator and the integral output absolute value limiter, and then the output of the limiting integrator is added to the input signal. The final output signal is the transfer function of the integral action enhancer.

[0072] To further demonstrate the experimental results of the integral action enhancer, please refer to Figure 3 , Figure 3 1 is a schematic diagram of experimental results of an integral action enhancer provided by an embodiment of the present invention.

[0073] exist Figure 3 in K FOIF =1, T FOIF =10s, T LAI = 200s, set the integral action enhancer IAE input to a unit step signal, and obtain the following Figure 3 The experimental results of the output signal of the integral action enhancer IAE are shown in FIG. Figure 3 Available, PV IAE ( t ) is the process output signal of the integral action enhancer IAE at unit step input, where t =0s, the input signal of the integral action enhancer IAE changes in unit step from t =400s, the IAE input signal changes to a 2-times unit negative step.

[0074] Furthermore, the secondary superheated steam temperature control system of the thermal power unit is constructed based on the integral action enhancer IAE, such as Figure 4 As shown, Figure 4 It is a structural schematic diagram of a two-stage superheated steam temperature control system provided by one embodiment of the present invention.

[0075] Depend on Figure 4It can be seen that the new controller (NC) is a cascade PI controller (PI controller for short) with an integral action enhancer IAE added to it.

[0076] Among them, the transfer function of the external disturbance coupling model is:

[0077] ;

[0078] in, EDCM ( s ) is the transfer function of the external disturbance coupling model EDCM (i.e., external disturbance coupling model); s is the Laplace operator; T EDCM is the EDCM time constant, in seconds.

[0079] To further illustrate that the new controller NC has better performance in eliminating steady-state deviation than the PI controller, please refer to Figure 5 , Figure 5 1 is a comparison chart of simulation experiment results provided by an embodiment of the present invention.

[0080] Depend on Figure 5 As shown, from t = 0s, the process is given as a unit step change, from t =3000s, the external disturbance is a unit step change; PV PI ( t ) is the process output of the PI controller, PV NC ( t ) is the process output of the new controller.

[0081] Depend on Figure 5 It can be seen that compared with the PI controller, the new controller NC significantly improves the performance of eliminating steady-state deviation.

[0082] For further explanation of the generating device of the integral action enhancer, please refer to Figure 6 , Figure 6 6 is a schematic structural diagram of a generating device for an integral action enhancer according to an embodiment of the present invention, comprising: a first processing module 601, a second processing module 602 and a generating module 603;

[0083] The first processing module 601 is configured to input an input signal into a first-order inertial filter and output a first processing result; wherein the input signal includes: a signal of a secondary superheated steam temperature control system of a thermal power unit, a deviation signal between a secondary superheated steam temperature set signal and a secondary superheated steam temperature;

[0084] The second processing module 602 is used to input the first processing result into a clipping integrator and an integral output absolute value clipper respectively, wherein the clipping integrator outputs a second processing result;

[0085] The generating module 603 is configured to generate an integral action enhancer by adding the input signal to the second processing result.

[0086] In this embodiment, the transfer function of the first-order inertia filter is specifically:

[0087] ;

[0088] in, FOIF ( s ) is the transfer function of the first-order inertial filter FOIF; s is the Laplace operator, K FOIF is the gain of FOIF, unit is dimensionless; T FOIF is the time constant of FOIF, in s.

[0089] In this embodiment, the transfer function of the limiting integrator is specifically:

[0090] ;

[0091] in, LAI ( s ) is the transfer function of the limiting integrator LAI; T LAI is the integration time constant of LAI, in s.

[0092] In this embodiment, the output signal of the integral output absolute value limiter is:

[0093] ;

[0094] in, LAI ( t ) is the output signal of the integral output absolute value limiter LAI; FOIF ( t ) is the output signal of the first-order inertial filter FOIF.

[0095] In this embodiment, the transfer function of the integral action enhancer is:

[0096] ;

[0097] in, IAE ( s ) is the transfer function of the integral action enhancer IAE; setting TFOIF =0.05 T LAI .

[0098] In a specific embodiment, it further includes:

[0099] A new controller is generated based on the integral action enhancer and the PI controller; wherein the transfer function of the PI controller is specifically:

[0100] ;

[0101] in, PI ( s ) is the transfer function of the PI controller; K PI is the gain of the cascade proportional controller, unit is dimensionless; T I is the integration time constant of the integrator, in s.

[0102] In a specific embodiment, the transfer function of the novel controller is:

[0103] ;

[0104] Among them, N C ( s ) is the transfer function of the novel controller NC.

[0105] A specific embodiment of the present invention provides a mobile terminal, including a processor and a memory, wherein the memory stores computer-readable program code, and when the processor executes the computer-readable program code, the steps of the above-mentioned method for generating an integral action enhancer are implemented.

[0106] A specific embodiment of the present invention provides a storage medium storing computer-readable program code, which implements the steps of the above-mentioned method for generating an integral action enhancer when the computer-readable program code is executed.

[0107] In an embodiment of the present invention, a first processing module inputs an input signal into a first-order inertia filter and outputs a first processing result. The input signal includes a signal from a secondary superheated steam temperature control system of a thermal power unit and a deviation signal between a secondary superheated steam temperature set signal and the secondary superheated steam temperature. The second processing module inputs the first processing result into a limiting integrator and an integral output absolute value limiter, respectively, wherein the limiting integrator outputs a second processing result. A generation module adds the input signal and the second processing result to generate an integral action enhancer.

[0108] In this embodiment of the present invention, the input signal is fed into a first-order inertial filter, then into a clipping integrator and an integral output absolute value limiter. The output of the clipping integrator is then added to the input signal. The resulting output signal represents the transfer function of the integral action enhancer. The integral action enhancer generated by this embodiment of the present invention addresses the structural stability issues associated with combining a PI controller with a conventional integrator in the prior art. Combining this integral action enhancer with a PI controller improves the performance of eliminating steady-state deviations while maintaining structural stability.

[0109] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for generating an integral action enhancer, characterized in that: include: After inputting the input signal into the first-order inertial filter, a first processing result is output; wherein the input signal includes: a signal of a secondary superheated steam temperature control system of a thermal power unit, a deviation signal between a secondary superheated steam temperature set signal and a secondary superheated steam temperature; inputting the first processing result into a clipping integrator and an integral output absolute value clipper respectively, wherein the clipping integrator outputs a second processing result; generating an integral action enhancer by adding the input signal and the second processing result; The transfer function of the first-order inertial filter is specifically: ； in, FOIF ( s ) is the transfer function of the first-order inertial filter FOIF; s is the Laplace operator, K FOIF is the gain of FOIF, unit is dimensionless; T FOIF is the time constant of FOIF, in seconds; The transfer function of the limiting integrator is specifically: ； in, LAI ( s ) is the transfer function of the limiting integrator LAI; T LAI is the integral time constant of LAI, in s; The output signal of the integral output absolute value limiter is: ； in, LAI ( t ) is the output signal of the integral output absolute value limiter LAI; FOIF ( t ) is the output signal of the first-order inertial filter FOIF.

2. The method for generating an integral action enhancer according to claim 1, characterized in that: The transfer function of the integral action enhancer is: ； in, IAE ( s ) is the transfer function of the integral action enhancer IAE; setting T FOIF =0.05 T LAI .

3. The method for generating an integral action enhancer according to claim 2, characterized in that: Also includes: A new controller is generated based on the integral action enhancer and the PI controller; wherein the transfer function of the PI controller is specifically: ； in, PI ( s ) is the transfer function of the PI controller; K PI is the gain of the cascade proportional controller, unit is dimensionless; T I is the integration time constant of the integrator, in s.

4. The method for generating an integral action enhancer according to claim 3, characterized in that: The transfer function of the novel controller is specifically: ； in, NC ( s ) is the transfer function of the novel controller NC.

5. A device for generating an integral action enhancer, characterized in that: include: a first processing module, a second processing module, and a generating module; The first processing module is configured to input an input signal into a first-order inertial filter and output a first processing result; wherein the input signal includes: a signal of a secondary superheated steam temperature control system of a thermal power unit, a deviation signal between a secondary superheated steam temperature set signal and a secondary superheated steam temperature; The second processing module is used to input the first processing result into a clipping integrator and an integral output absolute value clipper respectively, wherein the clipping integrator outputs a second processing result; The generating module is used to generate an integral action enhancer after adding the input signal and the second processing result; The transfer function of the first-order inertial filter is specifically: ； in, FOIF ( s ) is the transfer function of the first-order inertial filter FOIF; s is the Laplace operator, K FOIF is the gain of FOIF, unit is dimensionless; T FOIF is the time constant of FOIF, in seconds; The transfer function of the limiting integrator is specifically: ； in, LAI ( s ) is the transfer function of the limiting integrator LAI; T LAI is the integral time constant of LAI, in s; The output signal of the integral output absolute value limiter is: ； in, LAI ( t ) is the output signal of the integral output absolute value limiter LAI; FOIF ( t ) is the output signal of the first-order inertial filter FOIF.

6. A mobile terminal, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer-readable program code, and when the processor executes the computer-readable program code, the steps of the method for generating an integral-action enhancer according to any one of claims 1 to 4 are implemented.

7. A storage medium, characterized in that: The storage medium stores computer-readable program codes, which implement the steps of the method for generating an integral-action enhancer according to any one of claims 1 to 4 when the computer-readable program codes are executed.

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