Inverse cosine type fastest tracking filter method, device, equipment and storage medium

Abstract

The application provides a kind of inverse cosine type fastest tracking filter method, device, equipment and storage medium, the method comprises: input signal is input to the minuend input end of subtracter, obtains feedback output signal;Feedback output signal is input to the first integrator, obtains first integral output signal;First integral output signal is input to the second integrator, obtains second integral output signal;Second integral output signal is input to the minuend input end of subtracter, forms closed loop feedback;Second integral output signal is input to the delay ware, obtains delay output signal;Second integral output signal and delay output signal are input to the adder, obtains addition output signal;Addition output signal is input to the proportional controller, obtains inverse cosine type fastest tracking filter output signal.The application can effectively avoid the problem of two-order link equal-amplitude oscillation, effectively improve the performance of low-pass filter output tracking input.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of signal processing technology and industrial process control technology, and in particular to an inverse cosine type steepest tracking filtering method, device, equipment and storage medium. BACKGROUND

[0002] In the field of industrial process control, high-frequency noise interference is common in process signals, and a low pass filter (LPF) is often used to filter out high-frequency noise interference. A 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 does not track the input efficiently. From the perspective of improving process control performance, the performance of the LPF output tracking the input needs to be improved. The second order link has the highest output tracking input performance under the condition of equal amplitude oscillation, but actual systems usually do not allow equal amplitude oscillation to occur. SUMMARY

[0003] The present application aims to provide an inverse cosine type steepest tracking filtering method, device, equipment and storage medium to solve the above technical problems, which can effectively avoid the problem of equal amplitude oscillation of the second order link, and effectively improve the performance of the low pass filter output tracking the input compared with the first order inertial filter.

[0004] To solve the above technical problems, the present application provides an inverse cosine type steepest tracking filtering method, comprising:

[0005] inputting an input signal into the minuend input end of the subtracter to obtain a feedback output signal output by the subtracter;

[0006] inputting the feedback output signal into the first integrator to obtain a first integral output signal output by the first integrator;

[0007] inputting the first integral output signal into the second integrator to obtain a second integral output signal output by the second integrator;

[0008] inputting the second integral output signal into the minuend input end of the subtracter to form a closed loop feedback;

[0009] inputting the second integral output signal into the delay unit to obtain a delay output signal output by the delay unit;

[0010] inputting the second integral output signal and the delay output signal into the adder to obtain an addition output signal output by the adder;

[0011] The addition output signal is input to the proportional controller to obtain the inverse raised cosine type fastest tracking filter output signal output by the proportional controller.

[0012] Furthermore, the first integrator is expressed as:

[0013]

[0014] Among them, f FI (s) is the Laplace transfer function of the first integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0015] Furthermore, the second integrator is expressed as:

[0016]

[0017] Among them, 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.

[0018] Furthermore, the subtractor, the first integrator, and the second integrator constitute a second-order oscillation module;

[0019] 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.

[0020] Furthermore, the second-order oscillation module is expressed as:

[0021]

[0022] Among them, 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.

[0023] Furthermore, the delay is expressed as:

[0024]

[0025] Among them, 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.

[0026] Furthermore, the inverse raised cosine type fastest tracking filter method is expressed as follows:

[0027]

[0028] Among them, f FTF (s) is the Laplace transfer function of the inverse raised cosine type fastest tracking filter; T F K represents the filtering time constant of the fastest tracking filter, in seconds. P The gain of the proportional controller is dimensionless.

[0029] The present invention also provides an inverse raised cosine type fastest tracking filter device, including a subtractor, a first integrator, a second integrator, a delay unit, an adder, and a proportional controller;

[0030] 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; the output of the second integrator is connected to the subtrahend input of the subtractor, the first terminal of the adder, and the input of the delay unit; the output of the adder is connected to the input of the proportional controller.

[0031] 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 an addition output signal based on the second integral output signal and the delayed output signal. The proportional controller is used to output an inverse-raised cosine type fastest tracking filter output signal based on the addition output signal.

[0032] The present invention also provides a terminal device, including a processor and a memory storing a computer program, wherein the processor executes the computer program to implement any of the inverse raised cosine type fastest tracking filtering methods described above.

[0033] 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 inverse raised cosine type fastest tracking filtering method described in any one of the claims.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] This invention provides a method, apparatus, device, and storage medium for an inverse raised cosine type fastest tracking filter. The method includes: inputting an input signal to the minuend input of a subtractor to obtain a feedback output signal from the subtractor; inputting the feedback output signal to a first integrator to obtain a first integral output signal from the first integrator; inputting the first integral output signal to a second integrator to obtain a second integral output signal from the second integrator; inputting the second integral output signal to the subtrahend input of the subtractor to form a closed-loop feedback; inputting the second integral output signal to a delay unit to obtain a delayed output signal from the delay unit; inputting the second integral output signal and the delayed output signal to an adder to obtain an added output signal from the adder; and inputting the added output signal to a proportional controller to obtain an inverse raised cosine type fastest tracking filter output signal from the proportional controller. This invention effectively avoids the problem of constant amplitude oscillation in second-order circuits and, compared to a first-order inertial filter, effectively improves the performance of low-pass filter output tracking input. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the inverse raised cosine type fastest tracking filter method provided by the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the inverse raised cosine type fastest tracking filter device provided by the present invention;

[0038] Figure 3 This is a schematic diagram of the output process of the second-order oscillation stage provided by the present invention;

[0039] Figure 4 This is a schematic diagram of the delayed output process provided by the present invention;

[0040] Figure 5 This is a schematic diagram of the output of the fastest tracking filter provided by the present invention;

[0041] Figure 6 This is a schematic diagram comparing the 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 an inverse raised cosine type 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 second integral output signal and the delayed output signal to the adder to obtain the addition output signal output by the adder;

[0050] S7. Input the addition output signal to the proportional controller to obtain the inverse raised cosine type fastest tracking filter output signal output by the proportional controller.

[0051] 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.

[0052] In this embodiment of the invention, the first integrator is further expressed as:

[0053]

[0054] Among them, f FI (s) is the Laplace transfer function of the first integrator; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0055] In this embodiment of the invention, the second integrator is further expressed as:

[0056]

[0057] Among them, 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.

[0058] In this embodiment of the invention, the subtractor, the first integrator, and the second integrator further constitute a second-order oscillation module;

[0059] 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.

[0060] In this embodiment of the invention, the second-order oscillation module is further expressed as:

[0061]

[0062] Among them, 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.

[0063] In this embodiment of the invention, the delay timer is further expressed as:

[0064]

[0065] Among them, 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.

[0066] In this embodiment of the invention, the inverse raised cosine type fastest tracking filter method is further expressed as:

[0067]

[0068] Among them, f FTF (s) is the Laplace transfer function of the inverse raised cosine type fastest tracking filter; T F K represents the filtering time constant of the fastest tracking filter, in seconds. P The gain of the proportional controller is dimensionless.

[0069] Based on the above scheme, to facilitate a better understanding of the inverse raised cosine type fastest tracking filtering method provided in the embodiments of the present invention, the following is a detailed description:

[0070] 1. Input the input signal to the minuend input terminal of the subtractor, and obtain a feedback output signal at the output terminal of the subtractor;

[0071] The input signals are specifically: thermal power unit control process and nitrogen oxide (NOx) process signals.

[0072] 2. Input the feedback output signal to the input terminal of the first integrator, and obtain the first integrated output signal at the output terminal of the first integrator;

[0073] Preferably, the first integrator is expressed as:

[0074]

[0075] Among them, f FI (s) is the Laplace transfer function of the first integrator; T F The filtering time constant for the fastest tracking filter, in seconds;

[0076] 3. The first integral output signal is input to the input terminal of the second integrator, and the second integral output signal is obtained at the output terminal of the second integrator;

[0077] Preferably, the second integrator is expressed as:

[0078]

[0079] Among them, f SI (s) is the Laplace transfer function of the second integrator; T F The filtering time constant for the fastest tracking filter, in seconds;

[0080] 4. Input the second integral output signal to the subtraction input terminal of the subtractor to form a closed-loop feedback;

[0081] 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.

[0082] Preferably, the second-order oscillatory element is expressed as:

[0083]

[0084] Among them, f SOOL (s) is the Laplace transfer function of the second-order oscillatory element; T F The filtering time constant for the fastest tracking filter, in seconds;

[0085] 6. Input the output of the second-order oscillation element (the second integral output signal) to the input terminal of the delay unit, and obtain a delayed output at the output terminal of the delay unit;

[0086] Preferably, the delay is expressed as:

[0087]

[0088] Among them, f L (s) is the Laplace transfer function of the delay; T F The filtering time constant for the fastest tracking filter, in seconds;

[0089] 7. Input the output of the second-order oscillating element to the first input terminal of the adder, input the delayed output to the second input terminal of the adder, and obtain the addition output at the output terminal of the adder;

[0090] The addition output is input to the input terminal of the proportional controller, and a proportional control output is obtained at the output terminal of the proportional controller. The output of the proportional controller represents the output of the inverse raised cosine type fastest tracking filter.

[0091] 8. The inverse raised cosine type fastest tracking filter provided in this embodiment of the invention is expressed as follows:

[0092]

[0093] Among them, f FTF (s) is the Laplace transfer function of the inverse raised cosine type fastest tracking filter; T F K represents the filtering time constant of the fastest tracking filter, in seconds. P The gain of the proportional controller is dimensionless.

[0094] 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.

[0095] Please see Figure 2 The present invention also provides an inverse raised cosine type fastest tracking filter device, including a subtractor, a first integrator, a second integrator, a delay unit, an adder, and a proportional controller;

[0096] 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; the output of the second integrator is connected to the subtrahend input of the subtractor, the first terminal of the adder, and the input of the delay unit; the output of the adder is connected to the input of the proportional controller.

[0097] 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 an addition output signal based on the second integral output signal and the delayed output signal. The proportional controller is used to output an inverse-raised cosine type fastest tracking filter output signal based on the addition output signal.

[0098] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention. The inverse raised cosine type fastest tracking filter device provided by the embodiments of the present invention can implement the inverse raised cosine type fastest tracking filter method provided by any one of the method embodiments of the present invention.

[0099] The following is an example illustrating the inverse raised cosine type fastest tracking filter device according to an embodiment of the present invention:

[0100] 1. In one embodiment, at TF = 100s, the input signal is a unit step, and the process output PV of the second-order oscillation element is obtained. SOOL (t), such as Figure 3 As shown.

[0101] 2. In one embodiment, at T F =100s, the input signal is a unit step, and the process PV of obtaining the delayed output is as follows: L (t), such as Figure 4 As shown.

[0102] 3. In one embodiment, in K P =1,T F =100s, the input signal is a unit step, and the process output PV of the fastest tracking filter is obtained. FTF (t), such as Figure 5 As shown.

[0103] 4. In one embodiment, compared with the characteristics of a first-order inertial filter, the first-order inertial filter is expressed as:

[0104]

[0105] 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;

[0106] Set in K P =0.5, T F =T FOIF=100s, the input signal is a unit step, and the process output PV of the fastest tracking filter is obtained. FTF (t) and the first-order inertial filter process output PV FOIF (t) Comparison results, such as Figure 6 As shown.

[0107] Depend on Figure 6 The comparison results show that the tracking speed of the fastest tracking filter is significantly higher than that of the first-order inertial filter. This means that the efficiency of the output of the fastest tracking filter in tracking the input is significantly improved, indicating that the filtering performance of the fastest tracking filter is better than that of the commonly used first-order inertial filter.

[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 any of the inverse raised cosine type fastest tracking filtering methods described in the present invention.

[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 inverse raised cosine type fastest tracking filtering method 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 method for fastest tracking filtering of inverse raised cosine type, 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 second integral output signal and the delayed output signal are input to the adder to obtain the addition output signal output by the adder; The addition output signal is input to the proportional controller to obtain the inverse raised cosine type fastest tracking filter output signal output by the proportional controller.

2. The inverse raised cosine type fastest tracking filtering method according to claim 1, characterized in that, The first integrator is expressed as: Among them, f FI (s) is 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 inverse raised cosine type fastest tracking filtering method according to claim 1, characterized in that, The second integrator is expressed as: Among them, 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 inverse raised cosine type 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 inverse raised cosine type fastest tracking filtering method according to claim 4, characterized in that, The second-order oscillation module is expressed as follows: Among them, 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 inverse raised cosine type fastest tracking filtering method according to claim 1, characterized in that, The delay is expressed as: Among them, 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 inverse raised cosine type fastest tracking filtering method according to claim 1, characterized in that, The inverse raised cosine type fastest tracking filter method is expressed as follows: Among them, f FTF (s) is the Laplace transfer function of the inverse raised cosine type fastest tracking filter; T F K represents the filtering time constant of the fastest tracking filter, in seconds. P The gain of the proportional controller is dimensionless.

8. A reverse-raised cosine type fastest tracking filter device, characterized in that, It includes a subtractor, a first integrator, a second integrator, a delay unit, an adder, and a proportional controller; 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; the output of the second integrator is connected to the subtrahend input of the subtractor, the first terminal of the adder, and the input of the delay unit; the output of the adder is connected to the input of the proportional controller. 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 an addition output signal based on the second integral output signal and the delayed output signal. The proportional controller is used to output an inverse-raised cosine type fastest tracking filter output signal based on the addition 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 inverse raised cosine type 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 inverse raised cosine type fastest tracking filter method as described in any one of claims 1 to 7.

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