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

Abstract

The application provides a first-order inertia filter-based fastest tracking filter method, system, device and storage medium, and the method comprises the following steps: inputting an input signal into a first-order inertia filter to obtain a first-order inertia filter output signal output by the first-order inertia filter; inputting the first-order inertia 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 inertia filter output signal and the first proportional control signal into a subtractor to obtain a subtraction output signal output by the subtractor; and inputting the subtraction output signal into a second proportional controller to obtain a fastest tracking filter output signal output by the second proportional controller. The application can effectively improve the performance of low-pass filter output tracking input.

Description

Technical Field

[0001] This invention relates to the field of signal processing technology, and in particular to a fastest tracking filtering method, system, device and storage medium based on first-order inertial filtering. Background Technology

[0002] In the field of industrial process control, high-frequency noise interference is prevalent in process signals, often requiring the use of low-pass filters (LPFs) to remove it. The first-order inertial filter (FOIF) is a widely used and fundamental LPF. FOIF is a typical exponential tracking filter mechanism, but its main drawback is low output-to-input tracking efficiency. From the perspective of improving process control performance, it is necessary to improve the LPF's output-to-input tracking performance. Summary of the Invention

[0003] The present invention aims to provide a fastest tracking filtering method, system, device and storage medium based on first-order inertial filtering to solve the above-mentioned technical problems, thereby improving the performance of low-pass filter output tracking input.

[0004] To address the aforementioned technical problems, this invention provides a fastest tracking filtering method based on first-order inertial filtering, comprising:

[0005] The input signal is input to a first-order inertial filter to obtain the first-order inertial filter output signal.

[0006] The first-order inertial filter output signal is input to the delay unit to obtain the delayed output signal output by the delay unit;

[0007] The delayed output signal is input to the first proportional controller to obtain the 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 the subtractor to obtain the subtraction output signal output by the subtractor.

[0009] The subtraction output signal is input to the second proportional controller to obtain the fastest tracking filter output signal output by the second proportional controller.

[0010] Further, the step of inputting the first-order inertial filter output signal and the first proportional control signal to the subtractor to obtain the subtraction output signal of the subtractor specifically involves:

[0011] The first-order inertial filter output signal is input to the minuend input terminal of the subtractor, and the first proportional control signal is input to the subtrahend input terminal of the subtractor. A subtraction output signal is obtained at the output terminal of the subtractor.

[0012] Furthermore, the first-order inertial filter is expressed as:

[0013]

[0014] Among them, f FOIF (s) is 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.

[0015] Furthermore, the delay is expressed as:

[0016]

[0017] T FT =T FOIF

[0018] Among them, 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.

[0019] Furthermore, the first proportional controller is expressed as:

[0020]

[0021] e≈2.718

[0022] Among them, f FK (s) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm.

[0023] Furthermore, the output of the subtractor is expressed as:

[0024]

[0025] Among them, f S (s) is the Laplace transfer function of the output of the subtractor.

[0026] Furthermore, the second proportional controller is expressed as:

[0027] f SK (s)=(1-e -1 ) -1 ,

[0028] e≈2.718

[0029] Among them, 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 filter system based on a first-order inertial filter, comprising a first-order inertial filter, a delay unit, a first proportional controller, a subtractor, and a second proportional controller.

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

[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 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 filter output signal according to the subtraction output signal.

[0033] The present invention also provides a computer device, including a processor and a memory storing a computer program, wherein the processor, when executing the computer program, implements the fastest tracking filtering method based on first-order inertial filtering as described in any one of the claims.

[0034] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the fastest tracking filtering method based on first-order inertial filtering as described in any one of the claims.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] This invention provides a fastest tracking filtering method, system, device, and storage medium 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 subtractor to obtain a subtracted output signal; and inputting the subtracted output signal to a second proportional controller to obtain a fastest tracking filtering output signal. This invention can effectively improve the performance of low-pass filter output tracking input. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating the fastest tracking filtering method based on first-order inertial filtering provided by the present invention.

[0038] Figure 2 This is a schematic diagram of the fastest tracking filter system based on first-order inertial filtering provided by the present invention;

[0039] Figure 3 This is a schematic diagram comparing the output signals of the fastest tracking filter and the first-order inertial filter provided by this invention.

[0040] Figure 4 This is a schematic diagram of the filtering output of the fastest tracking filter and the filtering output of the first-order inertial filter provided by the present invention. Detailed Implementation

[0041] 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.

[0042] Please see Figure 1 This invention provides a fastest tracking filtering method based on first-order inertial filtering, which may include the following steps:

[0043] S1. Input the input signal to the first-order inertial filter to obtain the first-order inertial filter output signal.

[0044] S2. Input the first-order inertial filter output signal to the delay unit to obtain the delayed output signal output by the delay unit;

[0045] S3. Input the delayed output signal to the first proportional controller to obtain the first proportional control signal output by the first proportional controller;

[0046] S4. Input the first-order inertial filter output signal and the first proportional control signal to the subtractor to obtain the subtraction output signal output by the subtractor.

[0047] S5. Input the subtraction output signal to the second proportional controller to obtain the fastest tracking filter output signal output by the second proportional controller.

[0048] 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 subtractor to obtain the subtraction output signal output by the subtractor is specifically as follows:

[0049] The first-order inertial filter output signal is input to the minuend input terminal of the subtractor, and the first proportional control signal is input to the subtrahend input terminal of the subtractor. A subtraction output signal is obtained at the output terminal of the subtractor.

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

[0051]

[0052] Among them, f FOIF (s) is 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] T FT =T FOIF

[0056] Among them, 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.

[0057] In this embodiment of the invention, the first proportional controller is further expressed as:

[0058]

[0059] e≈2.718

[0060] Among them, fFK (s) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm.

[0061] In this embodiment of the invention, the output of the subtractor is further expressed as:

[0062]

[0063] Among them, f S (s) is the Laplace transfer function of the output of the subtractor.

[0064] In this embodiment of the invention, the second proportional controller is further expressed as:

[0065] f SK (s)=(1-e -1 ) -1 ,

[0066] e≈2.718

[0067] Among them, f SK (s) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm.

[0068] Based on the above scheme, and to facilitate a better understanding of the fastest tracking filtering method based on first-order inertial filtering provided in the embodiments of the present invention, the following detailed description is provided:

[0069] 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;

[0070] The first-order inertial filter is expressed as:

[0071]

[0072] Among them, f FOIF (s) is the Laplace transfer function of the first-order inertial filter; T FOIF Let be the filtering time constant of the first-order inertial filter, in seconds;

[0073] 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;

[0074] The delay is expressed as:

[0075]

[0076] T FT =T FOIF

[0077] Among them, fL (s) is the Laplace transfer function of the delay; T FT T represents the fastest tracking time constant, measured in seconds (s); in terms of quantity... FT =T FOIF The fastest tracking time constant represents the delay time of the delay unit.

[0078] 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;

[0079] The first proportional controller is expressed as:

[0080]

[0081] e≈2.718

[0082] Among them, 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;

[0083] 4. Input the first-order inertial filter output signal to the minuend input terminal of the subtractor, input the first proportional control signal to the subtrahend input terminal of the subtractor, and obtain the subtraction output signal at the output terminal of the subtractor;

[0084] The output of the subtractor is expressed as follows:

[0085]

[0086] Among them, f S (s) is the Laplace transfer function of the output of the subtractor;

[0087] 5. Input the subtraction output signal to the input terminal of the second proportional controller, and obtain the fastest tracking filter output signal at the output terminal of the second proportional controller;

[0088] The second proportional controller is expressed as:

[0089] f SK (s)=(1-e -1 ) -1 ,

[0090] e≈2.718

[0091] Among them, 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.

[0092] In summary, the fastest tracking filter can be expressed as:

[0093]

[0094] Among them, f S (s) is the Laplace transfer function of the subtractor.

[0095] 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.

[0096] Please see Figure 2 The present invention also provides a fastest tracking filtering system based on a first-order inertial filter, including a first-order inertial filter, a delay unit, a first proportional controller, a subtractor, and a second proportional controller.

[0097] The output of the first-order inertial filter is connected to the input of the delay unit and the minuend output of the subtractor, respectively; the output of the delay unit is connected to the subtrahend input of the subtractor through the first proportional controller; the output of the subtractor is connected to the input of the second proportional controller.

[0098] 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 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 filter output signal according to the subtraction output signal.

[0099] Please see Figure 2 As an example, let's compare the filtering characteristics of the fastest tracking filter with those of a first-order inertial filter:

[0100] A first-order inertial filter is expressed as:

[0101]

[0102] Among them, f FOIF (s) is the Laplace transfer function of the first-order inertial filter; T FOIF Let be the filtering time constant of the first-order inertial filter, in seconds;

[0103] Among them, in T FOIF =T FT =100s, the input signal is a unit step, and the fastest tracking filter output signal PV is obtained. FTF (t), the first-order inertial filter filtered output signal PV FOIF (t), Figure 3 As shown.

[0104] like Figure 3 As shown, at t>100s, PV FTF (t)=1,PV FOIF (t) = 0.632, the fastest tracking filter output can track the input in t > 100s.

[0105] In one embodiment, the fastest tracking filter is used to filter the secondary superheated steam temperature process signal of a 1000MW thermal power unit, and its filtering characteristics are compared with those of a first-order inertial filter.

[0106] Set T FT =T FOIF =35s, and the comparison results of the fastest tracking filter and the first-order inertial filter are obtained, such as Figure 4 As shown, the output of the fastest tracking filter significantly outpaces the output of the first-order inertial filter, indicating that the filtering performance of the fastest tracking filter is superior to that of the first-order inertial filter.

[0107] It is understood that the above system implementation embodiments correspond to the method implementation embodiments of the present invention. The fastest tracking filtering system based on first-order inertial filtering provided by the embodiments of the present invention can implement the fastest tracking filtering method based on first-order inertial filtering provided by any method implementation embodiment of the present invention.

[0108] The present invention also provides a computer device, including a processor and a memory storing a computer program, wherein the processor, when executing the computer program, implements the fastest tracking filtering method based on first-order inertial filtering as described in any one of the claims.

[0109] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the fastest tracking filtering method based on first-order inertial filtering as described in any one of the claims.

[0110] 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 filtering 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. 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 subtractor to obtain the subtraction output signal output by the subtractor. The subtraction output signal is input to the second proportional controller to obtain the fastest tracking filter output signal output by the second proportional controller. The delay is expressed as: Where fL(s) is the Laplace transfer function of the delay unit; TFT is the fastest tracking time constant, in seconds; the fastest tracking time constant represents the delay time of the delay unit; The first proportional controller is expressed as: Where fFK(s) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm; The second proportional controller is expressed as: Where fSK(s) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm.

2. The fastest tracking filtering 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 subtractor to obtain the subtraction output signal of the subtractor is specifically as follows: The first-order inertial filter output signal is input to the minuend input terminal of the subtractor, and the first proportional control signal is input to the subtrahend input terminal of the subtractor. A subtraction output signal is obtained at the output terminal of the subtractor.

3. The fastest tracking filtering 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.

4. The fastest tracking filtering method based on first-order inertial filtering according to claim 1, characterized in that, The output of the subtractor is expressed as follows: in, f S ( s ) is the Laplace transfer function of the output of the subtractor.

5. A fastest tracking filter 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 subtractor, and a second proportional controller; The output of the first-order inertial filter is connected to the input of the delay unit and the minuend output of the subtractor, respectively; the output of the delay unit is connected to the subtrahend input of the subtractor through the first proportional controller; the output of the subtractor is connected to the input of the second proportional controller. 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 subtractor is used to output a subtraction output signal according to the first-order inertial filter output signal and the first proportional control signal; and the second proportional controller is used to output a fastest tracking filter output signal according to the subtraction output signal. The delay is expressed as: Where fL(s) is the Laplace transfer function of the delay unit; TFT is the fastest tracking time constant, in seconds; the fastest tracking time constant represents the delay time of the delay unit; The first proportional controller is expressed as: Where fFK(s) is the Laplace transfer function of the first proportional controller; e is the base of the natural logarithm; The second proportional controller is expressed as: Where fSK(s) is the Laplace transfer function of the second proportional controller; e is the base of the natural logarithm.

6. A computer device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the fastest tracking filtering method based on first-order inertial filtering as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the fastest tracking filtering method based on first-order inertial filtering as described in any one of claims 1 to 4.

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