A steepest tracking differential method and system based on first order inertial filtering

Abstract

The application provides a steepest tracking differential method and system based on a first-order inertial filter, which comprises the following steps: inputting an input signal into a first-order inertial filter to obtain a first-order inertial filter output signal output by the first-order inertial filter; inputting the first-order inertial filter output signal into a delay device to obtain a delay output signal output by the delay device; inputting the delay output signal into a first proportional controller to obtain a first proportional control signal output by the first proportional controller; inputting the first-order inertial filter output signal and the first proportional control signal into a first subtractor to obtain a subtraction output signal output by the first subtractor; inputting the subtraction output signal into a second proportional controller to obtain a second proportional control signal output by the second proportional controller; and inputting the input signal and the second proportional control signal into a second subtractor to obtain a steepest tracking differential signal output by the second subtractor. The application can effectively improve the performance of output tracking input differential.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of signal processing, and in particular to a steepest tracking differential method and system based on first order inertial filtering. BACKGROUND

[0002] In the field of industrial process control, high-frequency noise interference is common in process signals, and low pass filters (LPF) are often used to filter out high-frequency noise interference. First order inertial filter (FOIF) is a basic LPF that is widely used. FOIF is a typical exponential tracking filtering mechanism, and the main problem is that the output tracking input differential efficiency is not high. Since the ideal differentiator cannot be realized in physics, the commonly used differentiator is a tracking differentiator based on FOIF, so the commonly used differentiator also has the problem of low output tracking input differential efficiency. SUMMARY

[0003] The present application aims to provide a steepest tracking differential method and system based on first order inertial filtering to solve the above technical problems, thereby improving the performance of output tracking input differential.

[0004] In order to solve the above technical problems, the present application provides a steepest tracking differential method based on first order inertial filtering, comprising:

[0005] An input signal is input to a first order inertial filter to obtain a first order inertial filter output signal output by the first order inertial filter; wherein the input signal includes a secondary superheated steam temperature process signal in a thermal power unit control process;

[0006] The first order inertial filter output signal is input to a delay device to obtain a delay output signal output by the delay device;

[0007] The delay output signal is input to a first proportional controller to obtain a first proportional control signal output by the first proportional controller;

[0008] The first order inertial filter output signal and the first proportional control signal are input to a first subtractor to obtain a subtraction output signal output by the first subtractor;

[0009] The subtraction output signal is input to a second proportional controller to obtain a second proportional control signal output by the second proportional controller;

[0010] The input signal and the second proportional control signal are input to a second subtractor to obtain a steepest tracking differential signal output by the second subtractor.

[0011] Further, the step of inputting the first-order inertial filter output signal and the first proportional control signal to the first subtractor to obtain the subtraction output signal of the first subtractor specifically involves:

[0012] The first-order inertial filter output signal is input to the minuend input terminal of the first subtractor, and the first proportional control signal is input to the subtrahend input terminal of the first subtractor. A subtraction output signal is obtained at the output terminal of the subtractor.

[0013] Further, the step of inputting the input signal and the second proportional control signal to the second subtractor to obtain the fastest tracking differential signal output by the second subtractor specifically involves:

[0014] The input signal is input to the minuend input terminal of the second subtractor, and the second proportional control signal is input to the subtrahend input terminal of the second subtractor. The fastest tracking differential signal is obtained at the output terminal of the second subtractor.

[0015] Furthermore, the first-order inertial filter is expressed as:

[0016]

[0017] in, f FOIF ( s Let be the Laplace transfer function of the first-order inertial filter; T FOIF is the filtering time constant of the first-order inertial filter, in seconds.

[0018] Furthermore, the delay is expressed as:

[0019]

[0020] in, f L ( s ) is the Laplace transfer function of the delay; T FT The fastest tracking time constant is expressed in seconds; the fastest tracking time constant represents the delay time of the delay unit.

[0021] Furthermore, the first proportional controller is expressed as:

[0022]

[0023] in, f FK ( s ) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm.

[0024] Furthermore, the output of the first subtractor is expressed as:

[0025]

[0026] in, f S ( s ) is the Laplace transfer function of the output of the first subtractor.

[0027] Furthermore, the second proportional controller is expressed as:

[0028]

[0029] in, f SK ( s ) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm.

[0030] The present invention also provides a fastest tracking differential system based on a first-order inertial filter, comprising a first-order inertial filter, a delay unit, a first proportional controller, a first subtractor, a second proportional controller, and a second subtractor;

[0031] The output of the first-order inertial filter is connected to the input of the delay unit and the minuend output of the first subtractor, respectively; the output of the delay unit is connected to the subtrahend input of the first subtractor through the first proportional controller; the output of the subtractor is connected to the input of the second proportional controller; the output of the second proportional controller is connected to the minuend input of the second subtractor.

[0032] The first-order inertial filter is used to output a first-order inertial filter output signal according to the input signal. The delay unit is used to output a delayed output signal according to the first-order inertial filter output signal. The first proportional controller is used to output a first proportional control signal according to the delayed output signal. The first subtractor is used to output a subtraction output signal according to the first-order inertial filter output signal and the first proportional control signal. The second proportional controller is used to output a fastest tracking differential signal according to the input signal and the subtraction output signal. The input signal includes the secondary superheated steam temperature process signal in the thermal power unit control process.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] This invention provides a fastest tracking differential method and system based on a first-order inertial filter. The method includes: inputting an input signal to a first-order inertial filter to obtain a first-order inertial filter output signal; inputting the first-order inertial filter output signal to a delay unit to obtain a delayed output signal; inputting the delayed output signal to a first proportional controller to obtain a first proportional control signal; inputting the first-order inertial filter output signal and the first proportional control signal to a first subtractor to obtain a subtracted output signal; inputting the subtracted output signal to a second proportional controller to obtain a second proportional control signal; and inputting the input signal and the second proportional control signal to a second subtractor to obtain a fastest tracking differential signal output by the second subtractor. This invention can effectively improve the performance of output tracking input differential. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating the fastest tracking differentiation method based on first-order inertial filtering provided by the present invention.

[0036] Figure 2 This is a schematic diagram of the fastest tracking differential system based on first-order inertial filtering provided by the present invention.

[0037] Figure 3 This is a schematic diagram comparing the process output of the fastest tracking differentiator provided by this invention with that of a commonly used differentiator. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1 This invention provides a fastest tracking differentiation method based on first-order inertial filtering, which may include the following steps:

[0040] S1. Input the input signal to the first-order inertial filter to obtain the first-order inertial filter output signal.

[0041] S2. Input the first-order inertial filter output signal to the delay unit to obtain the delayed output signal output by the delay unit;

[0042] S3. Input the delayed output signal to the first proportional controller to obtain the first proportional control signal output by the first proportional controller;

[0043] S4. Input the first-order inertial filter output signal and the first proportional control signal to the first subtractor to obtain the subtraction output signal output by the first subtractor.

[0044] S5. Input the subtraction output signal to the second proportional controller to obtain the second proportional control signal output by the second proportional controller;

[0045] S6. Input the input signal and the second proportional control signal to the second subtractor to obtain the fastest tracking differential signal output by the second subtractor.

[0046] In this embodiment of the invention, the step of inputting the first-order inertial filter output signal and the first proportional control signal to the first subtractor to obtain the subtraction output signal output by the first subtractor specifically involves:

[0047] The first-order inertial filter output signal is input to the minuend input terminal of the first subtractor, and the first proportional control signal is input to the subtrahend input terminal of the first subtractor. A subtraction output signal is obtained at the output terminal of the subtractor.

[0048] In this embodiment of the invention, further, the step of inputting the input signal and the second proportional control signal to the second subtractor to obtain the fastest tracking differential signal output by the second subtractor specifically involves:

[0049] The input signal is input to the minuend input terminal of the second subtractor, and the second proportional control signal is input to the subtrahend input terminal of the second subtractor. The fastest tracking differential signal is obtained at the output terminal of the second subtractor.

[0050] In this embodiment of the invention, the first-order inertial filter is further expressed as:

[0051]

[0052] in, f FOIF ( s Let be the Laplace transfer function of the first-order inertial filter; T FOIF is the filtering time constant of the first-order inertial filter, in seconds.

[0053] In this embodiment of the invention, the delay timer is further expressed as:

[0054]

[0055] in, f L ( s ) is the Laplace transfer function of the delay; T FT The fastest tracking time constant is expressed in seconds; the fastest tracking time constant represents the delay time of the delay unit.

[0056] In this embodiment of the invention, the first proportional controller is further expressed as:

[0057]

[0058] in, f FK ( s ) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm.

[0059] In this embodiment of the invention, the output of the first subtractor is further expressed as:

[0060]

[0061] in, f S ( s ) is the Laplace transfer function of the output of the first subtractor.

[0062] In this embodiment of the invention, the second proportional controller is further expressed as:

[0063]

[0064] in, f SK ( s ) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm.

[0065] In this embodiment of the invention, the input signal further includes the secondary superheated steam temperature process signal in the thermal power unit control process.

[0066] Based on the above scheme, and to facilitate a better understanding of the fastest tracking differentiation method based on first-order inertial filtering provided in the embodiments of the present invention, a detailed description is provided below:

[0067] 1. Input the input signal to the input terminal of the first-order inertial filter, and obtain the first-order inertial filter output signal at the output terminal of the first-order inertial filter;

[0068] The input signals are specifically: thermal power unit process control and secondary superheated steam temperature process signals.

[0069] The first-order inertial filter is expressed as:

[0070]

[0071] in, f FOIF ( s T is the Laplace transfer function of the first-order inertial filter; FOIF Let be the filtering time constant of the first-order inertial filter, in seconds;

[0072] 2. Input the first-order inertial filter output signal to the input terminal of the delay unit, and obtain the delayed output signal at the output terminal of the delay unit;

[0073] The delay is expressed as:

[0074]

[0075] in, f L ( s ) is the Laplace transfer function of the delay; T FT The fastest tracking time constant, in seconds; in terms of quantity T FT = T FOIF The fastest tracking time constant represents the delay time of the delay unit.

[0076] 3. Input the delayed output signal to the input terminal of the first proportional controller, and obtain the first proportional control signal at the output terminal of the first proportional controller;

[0077] The first proportional controller is expressed as:

[0078]

[0079] in, f FK ( s ) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm, and the approximate value of e is 2.718, with the unit being dimensionless;

[0080] 4. Input the first-order inertial filter output signal to the minuend input terminal of the first subtractor, input the first proportional control signal to the subtrahend input terminal of the first subtractor, and obtain the subtraction output signal at the output terminal of the first subtractor;

[0081] The output of the first subtractor is expressed as:

[0082]

[0083] in, f S ( s Let ) be the Laplace transfer function of the output of the first subtractor;

[0084] 5. Input the first subtraction output signal to the input terminal of the second proportional controller, and obtain the second proportional control signal at the output terminal of the second proportional controller;

[0085] The second proportional controller is expressed as:

[0086]

[0087] in, f SK ( s ) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm, which is approximated as 2.718 and is dimensionless.

[0088] 6. Input the input signal to the minuend input terminal of the second subtractor, input the second proportional control signal to the subtrahend input terminal of the second subtractor, and the second subtractor subtracts the second proportional control signal from the input signal to obtain the fastest tracking differential signal.

[0089] In summary, the fastest tracking differentiator is expressed as:

[0090]

[0091] in, f FTD ( s ) is the Laplace transfer function of the fastest tracking differentiator.

[0092] It should be noted that, for the sake of simplicity, the above methods or process embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0093] Please see Figure 2 The present invention also provides a fastest tracking differential system based on a first-order inertial filter, including a first-order inertial filter, a delay unit, a first proportional controller, a first subtractor, a second proportional controller, and a second subtractor.

[0094] The output of the first-order inertial filter is connected to the input of the delay unit and the minuend output of the first subtractor, respectively; the output of the delay unit is connected to the subtrahend input of the first subtractor through the first proportional controller; the output of the subtractor is connected to the input of the second proportional controller; the output of the second proportional controller is connected to the minuend input of the second subtractor.

[0095] The first-order inertial filter is used to output a first-order inertial filter output signal according to the input signal. The delay unit is used to output a delayed output signal according to the first-order inertial filter output signal. The first proportional controller is used to output a first proportional control signal according to the delayed output signal. The first subtractor is used to output a subtraction output signal according to the first-order inertial filter output signal and the first proportional control signal. The second proportional controller is used to output a fastest tracking differential signal according to the input signal and the subtraction output signal.

[0096] Please see Figure 2 As an example, the differential characteristics of the fastest tracking differentiator are compared with those of commonly used differentiators:

[0097] When the gain is 1, the commonly used differentiator is expressed as:

[0098]

[0099] in, f CD ( s ) is the Laplace transfer function of the commonly used differentiator; f B:FOIF ( s () is the Laplace transfer function of a first-order inertial filter; T B:FOIF Let be the filtering time constant of the first-order inertial filter, in seconds;

[0100] exist T FT = T FOIF = T B:FOIF =100s, the input signal is a unit step, and the output of the fastest tracking differentiator process is obtained. PV FTD ( t The commonly used differentiator process output PV CD ( t ),like Figure 3 As shown.

[0101] Depend on Figure 3 It can be seen that, in t >100s,PV FTD ( t )=0, PV CD ( t =0.376, the fastest tracking differentiator output is able to t The fastest tracking differentiator catches the input in >100 seconds. Compared to commonly used differentiators, the fastest tracking differentiator has a higher cutoff speed, indicating that its differentiating performance is superior to that of commonly used differentiators.

[0102] It is understood that the above system embodiment is corresponding to the method embodiment of the present invention. The fastest tracking differential system based on first-order inertial filtering provided by the embodiment of the present invention can realize the fastest tracking differential method based on first-order inertial filtering provided by any method embodiment of the present invention.

[0103] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A fastest tracking differential method based on first-order inertial filtering, characterized in that, include: The input signal is input to a first-order inertial filter to obtain the first-order inertial filter output signal; wherein, the input signal includes the secondary superheated steam temperature process signal in the thermal power unit control process; The first-order inertial filter output signal is input to the delay unit to obtain the delayed output signal output by the delay unit; The delayed output signal is input to the first proportional controller to obtain the first proportional control signal output by the first proportional controller. The first-order inertial filter output signal and the first proportional control signal are input to the first subtractor to obtain the subtraction output signal output by the first subtractor. The subtraction output signal is input to the second proportional controller to obtain the second proportional control signal output by the second proportional controller. The input signal and the second proportional control signal are input to the second subtractor to obtain the fastest tracking differential signal output by the second subtractor.

2. The fastest tracking differential method based on first-order inertial filtering according to claim 1, characterized in that, The step of inputting the first-order inertial filter output signal and the first proportional control signal to the first subtractor to obtain the subtraction output signal from the first subtractor is as follows: The first-order inertial filter output signal is input to the minuend input terminal of the first subtractor, and the first proportional control signal is input to the subtrahend input terminal of the first subtractor. A subtraction output signal is obtained at the output terminal of the subtractor.

3. The fastest tracking differential method based on first-order inertial filtering according to claim 1, characterized in that, The step of inputting the input signal and the second proportional control signal to the second subtractor to obtain the fastest tracking differential signal output by the second subtractor is specifically as follows: The input signal is input to the minuend input terminal of the second subtractor, and the second proportional control signal is input to the subtrahend input terminal of the second subtractor. The fastest tracking differential signal is obtained at the output terminal of the second subtractor.

4. The fastest tracking differential method based on first-order inertial filtering according to claim 1, characterized in that, The first-order inertial filter is expressed as: in, f FOIF ( s Let be the Laplace transfer function of the first-order inertial filter; T FOIF is the filtering time constant of the first-order inertial filter, in seconds.

5. The fastest tracking differential method based on first-order inertial filtering according to claim 4, characterized in that, The delay is expressed as: in, f L ( s ) is the Laplace transfer function of the delay; T FT The fastest tracking time constant is expressed in seconds; the fastest tracking time constant represents the delay time of the delay unit.

6. The fastest tracking differential method based on first-order inertial filtering according to claim 5, characterized in that, The first proportional controller is expressed as: in, f FK ( s ) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm.

7. The fastest tracking differential method based on first-order inertial filtering according to claim 6, characterized in that, The output of the first subtractor is expressed as: in, f S ( s ) is the Laplace transfer function of the output of the first subtractor.

8. The fastest tracking differential method based on first-order inertial filtering according to claim 7, characterized in that, The second proportional controller is expressed as: in, f SK ( s ) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm.

9. A fastest tracking differential system based on first-order inertial filtering, characterized in that, It includes a first-order inertial filter, a delay unit, a first proportional controller, a first subtractor, a second proportional controller, and a second subtractor; The output of the first-order inertial filter is connected to the input of the delay unit and the minuend output of the first subtractor, respectively; the output of the delay unit is connected to the subtrahend input of the first subtractor through the first proportional controller; the output of the subtractor is connected to the input of the second proportional controller; the output of the second proportional controller is connected to the minuend input of the second subtractor. The first-order inertial filter is used to output a first-order inertial filter output signal according to the input signal. The delay unit is used to output a delayed output signal according to the first-order inertial filter output signal. The first proportional controller is used to output a first proportional control signal according to the delayed output signal. The first subtractor is used to output a subtraction output signal according to the first-order inertial filter output signal and the first proportional control signal. The second proportional controller is used to output a fastest tracking differential signal according to the input signal and the subtraction output signal. The input signal includes the secondary superheated steam temperature process signal in the thermal power unit control process.

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