Fastest tracking filter method and device based on second order oscillation link

Abstract

This invention provides a fastest tracking filter method, apparatus, device, and storage medium based on a second-order oscillating element. The method includes: inputting an input signal to the minuend input of a first subtractor to obtain a feedback output signal from the first subtractor; inputting the feedback output signal to a first integrator to obtain a first integrated output signal from the first integrator; inputting the first integrated output signal to a second integrator to obtain a second integrated output signal from the second integrator; inputting the second integrated output signal to the subtrahend input of the first subtractor to form a closed-loop feedback; inputting the first integrated output signal to a delay unit to obtain a delayed output signal from the delay unit; and inputting the second integrated output signal and the delayed output signal to a second subtractor to obtain a fastest tracking filter output signal from the second subtractor. Compared to a first-order inertial filter, this invention effectively improves the performance of low-pass filtering 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 fastest tracking filtering method, apparatus, device and storage medium based on a second-order oscillating element. 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. 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. 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 fastest tracking filtering method, apparatus, device and storage medium based on a second-order oscillating element to solve the above-mentioned technical problems. Compared with a first-order inertial filter, it effectively improves the performance of low-pass filter output tracking input.

[0004] To address the aforementioned technical problems, this invention provides a fastest tracking filter method based on a second-order oscillating element, comprising:

[0005] The input signal is input to the minuend input terminal of the first subtractor to obtain the feedback output signal of the first 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 first subtractor to form a closed-loop feedback;

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

[0010] The second integral output signal and the delayed output signal are input to the second subtractor to obtain the fastest tracking filter output signal output by the second subtractor.

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

[0012]

[0013] 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.

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

[0015]

[0016] 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.

[0017] Furthermore, the first 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] 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.

[0022] Furthermore, the delay is expressed as:

[0023]

[0024] 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.

[0025] Furthermore, the fastest tracking filtering method based on a second-order oscillating element is expressed as follows:

[0026]

[0027] Among them, f FTF (s) is the Laplace transfer function of the fastest tracking filter based on a second-order oscillatory element; TF This is the filtering time constant for the fastest tracking filter, expressed in seconds.

[0028] The present invention also provides a fastest tracking filter device based on a second-order oscillating element, comprising a first subtractor, a first integrator, a second integrator, a delay unit, and a second subtractor;

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

[0030] The first 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 first integral output signal. The second subtractor is used to output a fastest tracking filter output signal based on the second 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 executes the computer program to implement the fastest tracking filtering method based on a second-order oscillating element as described in any one of the claims.

[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 fastest tracking filtering method based on a second-order oscillating element as 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 fastest tracking filter method, apparatus, device, and storage medium based on a second-order oscillating element. The method includes: inputting an input signal to the minuend input of a first subtractor to obtain a feedback output signal from the first subtractor; inputting the feedback output signal to a first integrator to obtain a first integrated output signal from the first integrator; inputting the first integrated output signal to a second integrator to obtain a second integrated output signal from the second integrator; inputting the second integrated output signal to the subtrahend input of the first subtractor to form a closed-loop feedback; inputting the first integrated output signal to a delay unit to obtain a delayed output signal from the delay unit; and inputting the second integrated output signal and the delayed output signal to a second subtractor to obtain a fastest tracking filter output signal from the second subtractor. 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 fastest tracking filtering method based on a second-order oscillating element provided by the present invention.

[0036] Figure 2 This is a schematic diagram of the fastest tracking filter device based on a second-order oscillating element provided by the present invention.

[0037] Figure 3 This is a schematic diagram of the 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 fastest tracking filter based on a second-order oscillating element provided by the present invention;

[0041] Figure 7 This is a schematic diagram comparing the fastest tracking filter output based on a second-order oscillating element with 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 fastest tracking filtering method based on a second-order oscillating element, which may include the following steps:

[0044] S1. Input the input signal to the minuend input terminal of the first subtractor to obtain the feedback output signal of the first 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 first subtractor to form a closed-loop feedback;

[0048] S5. Input the first 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 second subtractor to obtain the fastest tracking filter output signal output by the second subtractor.

[0050] It should be noted that during the initial operation of the first 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 first 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] 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.

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

[0055]

[0056] 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.

[0057] In this embodiment of the invention, the first 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] 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.

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

[0063]

[0064] 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.

[0065] In this embodiment of the invention, the fastest tracking filtering method based on a second-order oscillating element is further expressed as follows:

[0066]

[0067] Among them, f FTF (s) is the Laplace transfer function of the fastest tracking filter based on a second-order oscillatory element; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

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

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

[0070] 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;

[0071] The first integrator is expressed as:

[0072]

[0073] 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;

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

[0075] The second integrator is expressed as:

[0076]

[0077] 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;

[0078] 4. Input the second integral output signal to the subtraction input terminal of the first 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 signal represents the output of the second-order oscillation element.

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

[0081]

[0082] 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;

[0083] 6. Input the first integral output signal to the input of the delay unit, and obtain the delayed output signal at the output of the delay unit;

[0084] The delay is expressed as:

[0085]

[0086] 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;

[0087] 7. Input the output of the second-order oscillation circuit to the minuend input of the second subtractor, input the delayed output signal to the subtrahend input of the second subtractor, and obtain the fastest tracking filter output signal at the output of the second subtractor;

[0088] 8. The fastest tracking filter provided in this embodiment of the invention is expressed as follows:

[0089]

[0090] Among them, f FTF (s) is the Laplace transfer function of the fastest tracking filter; T F This is the filtering time constant for the fastest tracking filter, expressed 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 fastest tracking filter device based on a second-order oscillating element, comprising a first subtractor, a first integrator, a second integrator, a delay unit, and a second subtractor.

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

[0094] The first 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 first integral output signal. The second subtractor is used to output a fastest tracking filter output signal based on the second 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 fastest tracking filter device based on a second-order oscillating element provided by the embodiments of the present invention can realize the fastest tracking filter method based on a second-order oscillating element provided by any one of the method embodiments of the present invention.

[0096] The following is an example illustrating the fastest tracking filter device based on a second-order oscillating element according to an embodiment of the present invention:

[0097] 1. In one embodiment, at T F =100s, the input signal is a unit step, and the process output PV of the second-order oscillating element is obtained. SOOL (t), such as Figure 3 As shown.

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

[0099] 3. In one embodiment, at T F =100s, the input signal is a unit step, and the process of obtaining the delayed output information PV L (t), Figure 5 As shown.

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

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

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

[0103]

[0104] 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;

[0105] Set T F ==30s, T FOIF =30s, and the comparison results of the fastest tracking filter and the first-order inertial filter are obtained, such as Figure 7As shown, the output of the fastest tracking filter significantly outpaces the output of the first-order inertial filter, thus demonstrating that the 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 the fastest tracking filtering method based on a second-order oscillating element as described in any one of the claims.

[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 fastest tracking filtering method based on a second-order oscillating element as 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 fastest tracking filtering method based on a second-order oscillating element, characterized in that, include: The input signal is input to the minuend input terminal of the first subtractor to obtain the feedback output signal of the first 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 first subtractor to form a closed-loop feedback; The first 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 second subtractor to obtain the fastest tracking filter output signal output by the second subtractor.

2. The fastest tracking filtering method based on a second-order oscillating element 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 fastest tracking filtering method based on a second-order oscillating element 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 fastest tracking filtering method based on a second-order oscillating element according to claim 1, characterized in that, The first 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 fastest tracking filtering method based on a second-order oscillating element 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 fastest tracking filtering method based on a second-order oscillating element 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 fastest tracking filtering method based on a second-order oscillating element according to claim 1, characterized in that, The fastest tracking filter method based on a second-order oscillatory element is expressed as follows: Among them, f FTF (s) is the Laplace transfer function of the fastest tracking filter based on a second-order oscillatory element; T F This is the filtering time constant for the fastest tracking filter, expressed in seconds.

8. A fastest tracking filter device based on a second-order oscillating element, characterized in that, It includes a first subtractor, a first integrator, a second integrator, a delay unit, and a second subtractor; The output of the first subtractor is connected to the input of the first integrator; the output of the first integrator is connected to the input of the delay unit and the input of the second integrator; the output of the second integrator is connected to the subtrahend input of the first subtractor and the minuend input of the second subtractor; the output of the delay unit is connected to the subtrahend input of the second subtractor. The first 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 first integral output signal. The second subtractor is used to output a fastest tracking filter output signal based on the second 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 fastest tracking filtering method based on a second-order oscillating element as described in 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 fastest tracking filtering method based on a second-order oscillating element as described in any one of claims 1 to 7.

Images