Sine type fastest tracking filtering method, device and equipment and storage medium

Abstract

The application provides a sine type fastest tracking filter method, device, equipment and storage medium, the method comprises the following steps: inputting an input signal to the minuend input end of a subtractor to obtain a feedback output signal; inputting the feedback output signal to a first integrator to obtain a first integral output signal; inputting the first integral output signal to a second integrator to obtain a second integral output signal; inputting the second integral output signal to the minuend input end of the subtractor to form a closed loop feedback; inputting the second integral output signal to a delay unit to obtain a delay output signal; and inputting the first integral output signal and the delay output signal to a summer to obtain a sine type fastest tracking filter output signal. Compared with a first order inertia filter, the application effectively improves the performance of low pass filter output tracking input.

Description

Technical Field

[0001] This invention relates to the fields of signal processing technology and industrial process control technology, and in particular to a sinusoidal fastest tracking filter method, apparatus, device and storage medium. Background Technology

[0002] In industrial process control, high-frequency noise interference is prevalent in process signals, often requiring the use of low-pass filters (LPFs) to remove it. First-order inertial filters (FOIFs) are a widely used and fundamental type of LPF. FOIFs are a typical exponential tracking filter mechanism, but their 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. Second-order filters exhibit the highest output-to-input tracking performance under constant-amplitude oscillation conditions; however, constant-amplitude oscillations are typically not permitted in practical systems. Summary of the Invention

[0003] The present invention aims to provide a sinusoidal fastest tracking filter method, apparatus, device and storage medium to solve the above-mentioned technical problems. Compared with a first-order inertial filter, it can effectively improve the performance of low-pass filter output tracking input.

[0004] To address the aforementioned technical problems, this invention provides a sinusoidal fastest tracking filter method, comprising:

[0005] The input signal is input to the minuend input terminal of the subtractor to obtain the feedback output signal of the subtractor;

[0006] The feedback output signal is input to the first integrator to obtain the first integrated output signal output by the first integrator.

[0007] The first integral output signal is input to the second integrator to obtain the second integral output signal output by the second integrator.

[0008] The second integral output signal is input to the subtraction input terminal of the subtractor to form a closed-loop feedback;

[0009] The second integral output signal is input to the delay unit to obtain the delayed output signal output by the delay unit;

[0010] The first integral output signal and the delayed output signal are input to the adder to obtain the sinusoidal fastest tracking filter output signal output by the adder.

[0011] Furthermore, the first integrator is expressed as:

[0012]

[0013] in, f FI ( s Let ) be the Laplace transfer function of the first integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0014] Furthermore, the second integrator is expressed as:

[0015]

[0016] in, f SI ( s ) is the Laplace transfer function of the second integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0017] Furthermore, the subtractor, the first integrator, and the second integrator constitute a second-order oscillation module;

[0018] Wherein, the input signal represents the input of the second-order oscillation module, and the second integral output signal represents the output of the second-order oscillation module.

[0019] Furthermore, the second-order oscillation module is expressed as:

[0020]

[0021] in, f SOOL ( s ) is the Laplace transfer function of the second-order oscillatory module; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0022] Furthermore, the delay is expressed as:

[0023]

[0024] in, f L ( s ) is the Laplace transfer function of the delay; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0025] Furthermore, the sinusoidal fastest tracking filtering method is expressed as follows:

[0026]

[0027] in, f STTF ( s ) is the Laplace transfer function of the sinusoidal fastest tracking filter; T F This is the fastest tracking filter time constant, in seconds.

[0028] The present invention also provides a sinusoidal fastest tracking filter device, including a subtractor, a first integrator, a second integrator, a delay unit and an adder;

[0029] The output of the subtractor is connected to the input of the first integrator; the output of the first integrator is connected to the input of the second integrator and the first end of the adder; the output of the second integrator is connected to the subtrahend input of the subtractor and the input of the delay unit; the output of the delay unit is connected to the second end of the adder.

[0030] The subtractor is used to output a feedback output signal based on the input signal and the second integral output signal. The first integrator is used to output a first integral output signal based on the feedback output signal. The second integrator is used to output a second integral output signal based on the first integral output signal. The delay unit is used to output a delayed output signal based on the second integral output signal. The adder is used to output a sinusoidal fastest tracking filter output signal based on the first integral output signal and the delayed output signal.

[0031] The present invention also provides a terminal device, including a processor and a memory storing a computer program, wherein the processor, when executing the computer program, implements any of the sinusoidal fastest tracking filtering methods described above.

[0032] 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 sinusoidal fastest tracking filtering method described in any one of the claims.

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

[0034] This invention provides a sinusoidal fastest tracking filter method, apparatus, device, and storage medium. The method includes: inputting an input signal to the minuend input of a subtractor to obtain a feedback output signal; inputting the feedback output signal to a first integrator to obtain a first integrated output signal; inputting the first integrated output signal to a second integrator to obtain a second integrated output signal; inputting the second integrated output signal to the subtrahend input of the subtractor to form a closed-loop feedback; inputting the second integrated output signal to a delay unit to obtain a delayed output signal; and inputting the first integrated output signal and the delayed output signal to an adder to obtain a sinusoidal fastest tracking filter output signal. Compared to a first-order inertial filter, this invention effectively improves the performance of low-pass filtering output tracking input. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating the sinusoidal fastest tracking filtering method provided by the present invention;

[0036] Figure 2 This is a schematic diagram of the sinusoidal fastest tracking filter device provided by the present invention;

[0037] Figure 3 This is a schematic diagram of the output process of the second-order oscillation stage provided by the present invention;

[0038] Figure 4 This is a schematic diagram of the first integral output process provided by the present invention;

[0039] Figure 5 This is a schematic diagram of the delayed output process provided by the present invention;

[0040] Figure 6 This is a schematic diagram of the output of the sinusoidal fastest tracking filter provided by the present invention;

[0041] Figure 7 This is a schematic diagram comparing the sinusoidal fastest tracking filter output and the first-order inertial filter output provided by the present invention. Detailed Implementation

[0042] 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.

[0043] Please see Figure 1 This invention provides a sinusoidal fastest tracking filter method, which may include the following steps:

[0044] S1. Input the input signal to the minuend input terminal of the subtractor to obtain the feedback output signal of the subtractor;

[0045] S2. Input the feedback output signal to the first integrator to obtain the first integrated output signal output by the first integrator;

[0046] S3. Input the first integral output signal to the second integrator to obtain the second integral output signal output by the second integrator;

[0047] S4. Input the second integral output signal to the subtraction input terminal of the subtractor to form a closed-loop feedback;

[0048] S5. Input the second integral output signal to the delay unit to obtain the delayed output signal output by the delay unit;

[0049] S6. Input the first integral output signal and the delayed output signal to the adder to obtain the sinusoidal fastest tracking filter output signal output by the adder.

[0050] It should be noted that during the initial operation of the subtractor, since there is only the input signal as the minuend and no subtrahend input, a preset subtrahend (e.g., zero) can be used during the initial operation. After the input signal passes through the first integrator and the second integrator in sequence, the second integrated output signal is input to the subtractor as the subtrahend, forming a closed-loop feedback.

[0051] In this embodiment of the invention, the first integrator is further expressed as:

[0052]

[0053] in, f FI ( s Let ) be the Laplace transfer function of the first integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0054] In this embodiment of the invention, the second integrator is further expressed as:

[0055]

[0056] in, f SI ( s ) is the Laplace transfer function of the second integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0057] In this embodiment of the invention, the subtractor, the first integrator, and the second integrator further constitute a second-order oscillation module;

[0058] Wherein, the input signal represents the input of the second-order oscillation module, and the second integral output signal represents the output of the second-order oscillation module.

[0059] In this embodiment of the invention, the second-order oscillation module is further expressed as:

[0060]

[0061] in, f SOOL ( s ) is the Laplace transfer function of the second-order oscillatory module; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0062] In this embodiment of the invention, the delay is further expressed as:

[0063]

[0064] in, f L ( s ) is the Laplace transfer function of the delay; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0065] In this embodiment of the invention, the sinusoidal fastest tracking filter method is further expressed as follows:

[0066]

[0067] in, f STTF ( s ) is the Laplace transfer function of the sinusoidal fastest tracking filter; T F This is the fastest tracking filter time constant, in seconds.

[0068] Based on the above scheme, and to facilitate a better understanding of the sinusoidal fastest tracking filtering method provided in the embodiments of the present invention, a detailed description is provided below:

[0069] 1. Input the input signal to the minuend input terminal of the subtractor, and obtain the feedback output at the output terminal of the subtractor;

[0070] 2. Input the feedback output to the input terminal of the first integrator, and obtain the first integral output at the output terminal of the first integrator;

[0071] The first integrator is expressed as:

[0072]

[0073] in, f FI ( s Let ) be the Laplace transfer function of the first integrator; T F The fastest tracking filter time constant is expressed in seconds.

[0074] 3. Input the first integral output to the input terminal of the second integrator, and obtain the second integral output at the output terminal of the second integrator;

[0075] The second integrator is expressed as:

[0076]

[0077] in, f SI ( s ) is the Laplace transfer function of the second integrator; T F The fastest tracking filter time constant is expressed in seconds.

[0078] 4. Input the second integral output to the subtractor input terminal of the subtractor to form a closed-loop feedback;

[0079] 5. The input signal represents the input of the second-order oscillation element (second-order oscillation module), and the second integral output represents the output of the second-order oscillation element.

[0080] The second-order oscillatory element is expressed as follows:

[0081]

[0082] in, f SOOL ( s ) is the Laplace transfer function of the second-order oscillatory element; T F The fastest tracking filter time constant is expressed in seconds.

[0083] 6. Input the output (second integral output) of the second-order oscillation element to the delay unit, and obtain the delayed output at the output terminal of the delay unit;

[0084] The delay is expressed as:

[0085]

[0086] in, f L ( s ) is the Laplace transfer function of the delay; T F The fastest tracking filter time constant is expressed in seconds.

[0087] 7. Input the first integral output and the delayed output to the adder, and obtain a sinusoidal fastest tracking filter output at the output of the adder;

[0088] 8. The sinusoidal fastest tracking filter of this invention is expressed as follows:

[0089]

[0090] in, f STTF ( s ) is the Laplace transfer function of the sinusoidal fastest tracking filter; T F This is the fastest tracking filter time constant, in seconds.

[0091] 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.

[0092] Please see Figure 2 The present invention also provides a sinusoidal fastest tracking filter device, including a subtractor, a first integrator, a second integrator, a delay unit and an adder;

[0093] The output of the subtractor is connected to the input of the first integrator; the output of the first integrator is connected to the input of the second integrator and the first end of the adder; the output of the second integrator is connected to the subtrahend input of the subtractor and the input of the delay unit; the output of the delay unit is connected to the second end of the adder.

[0094] The subtractor is used to output a feedback output signal based on the input signal and the second integral output signal. The first integrator is used to output a first integral output signal based on the feedback output signal. The second integrator is used to output a second integral output signal based on the first integral output signal. The delay unit is used to output a delayed output signal based on the second integral output signal. The adder is used to output a sinusoidal fastest tracking filter output signal based on the first integral output signal and the delayed output signal.

[0095] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention. The sinusoidal fastest tracking filter device provided by the embodiments of the present invention can implement the sinusoidal fastest tracking filter method provided by any one of the method embodiments of the present invention.

[0096] The following is an example of the sinusoidal fastest tracking filter device according to an embodiment of the present invention:

[0097] 1. In one embodiment, the following is set T F =100s, and the process output of the second-order oscillation element is obtained. PV SOOL ( t ), Figure 3 As shown.

[0098] 2. In one embodiment, the following is set: T F =100s, the input signal is a unit step, the process of obtaining the first integral output. PV FI ( t ), Figure 4 As shown.

[0099] 3. In one embodiment, the following is set: T F =100s, the input signal is a unit step, and the process of obtaining the output of the delay unit is as follows: PV L ( t ), Figure 5 As shown.

[0100] 4. In one embodiment, the following is set: T F =100s, the input signal is a unit step, and the process output of the fastest tracking filter is obtained. PV FTF ( t ), Figure 6 As shown.

[0101] 5. In one embodiment, a sinusoidal fastest tracking filter is used to filter the reheat steam temperature process signal of a 1000MW thermal power unit, and the filtering characteristics are compared with those of a first-order inertial filter.

[0102] A first-order inertial filter is expressed as:

[0103]

[0104] in, 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;

[0105] set up T F = T FOIF =30s, and the comparison results of the sinusoidal fastest tracking filter and the first-order inertial filter are obtained, such as Figure 7 As shown, the output of the sinusoidal fastest tracking filter significantly outpaces the output of the first-order inertial filter, thus demonstrating that the sinusoidal fastest tracking filter outperforms the first-order inertial filter.

[0106] 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 any of the sinusoidal fastest tracking filtering methods described in the present invention.

[0107] 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 sinusoidal fastest tracking filtering method described in any one of the claims.

[0108] 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 sinusoidal fastest tracking filtering method, characterized in that, include: The input signal is input to the minuend input terminal of the subtractor to obtain the feedback output signal of the subtractor; The feedback output signal is input to the first integrator to obtain the first integrated output signal output by the first integrator. The first integral output signal is input to the second integrator to obtain the second integral output signal output by the second integrator. The second integral output signal is input to the subtraction input terminal of the subtractor to form a closed-loop feedback; The second integral output signal is input to the delay unit to obtain the delayed output signal output by the delay unit; The first integral output signal and the delayed output signal are input to the adder to obtain the sinusoidal fastest tracking filter output signal output by the adder.

2. The sinusoidal fastest tracking filtering method according to claim 1, characterized in that, The first integrator is expressed as: in, f FI ( s Let ) be the Laplace transfer function of the first integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

3. The sinusoidal fastest tracking filtering method according to claim 1, characterized in that, The second integrator is expressed as: in, f SI ( s ) is the Laplace transfer function of the second integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

4. The sinusoidal fastest tracking filtering method according to claim 1, characterized in that, The subtractor, the first integrator, and the second integrator constitute a second-order oscillation module; Wherein, the input signal represents the input of the second-order oscillation module, and the second integral output signal represents the output of the second-order oscillation module.

5. The sinusoidal fastest tracking filtering method according to claim 4, characterized in that, The second-order oscillation module is expressed as follows: in, f SOOL ( s ) is the Laplace transfer function of the second-order oscillatory module; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

6. The sinusoidal fastest tracking filtering method according to claim 1, characterized in that, The delay is expressed as: in, f L ( s ) is the Laplace transfer function of the delay; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

7. The sinusoidal fastest tracking filtering method according to claim 1, characterized in that, The sinusoidal fastest tracking filtering method is expressed as follows: in, f STTF ( s ) is the Laplace transfer function of the sinusoidal fastest tracking filter; T F This is the fastest tracking filter time constant, in seconds.

8. A sinusoidal fastest tracking filter device, characterized in that, It includes a subtractor, a first integrator, a second integrator, a delay unit, and an adder; The output of the subtractor is connected to the input of the first integrator; the output of the first integrator is connected to the input of the second integrator and the first end of the adder; the output of the second integrator is connected to the subtrahend input of the subtractor and the input of the delay unit; the output of the delay unit is connected to the second end of the adder. The subtractor is used to output a feedback output signal based on the input signal and the second integral output signal. The first integrator is used to output a first integral output signal based on the feedback output signal. The second integrator is used to output a second integral output signal based on the first integral output signal. The delay unit is used to output a delayed output signal based on the second integral output signal. The adder is used to output a sinusoidal fastest tracking filter output signal based on the first integral output signal and the delayed output signal.

9. A terminal device, comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the sinusoidal fastest tracking filtering method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the sinusoidal fastest tracking filtering method as described in any one of claims 1 to 7.

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