Rate-adjustable maximum-likelihood filtering method and apparatus

Abstract

This invention provides an adjustable-rate fastest tracking filter method, apparatus, device, and storage medium. The method includes: inputting an input signal into a first subtractor to obtain a feedback output; inputting the feedback output into a first integrator to obtain a first integral output; inputting the first integral output into a second integrator to obtain a second integral output; inputting the second integral output into the first subtractor to form a closed-loop feedback; inputting the second integral output and the output of a first delay unit into a first adder; inputting the first adder output into the second subtractor after passing through a fixed proportional controller; inputting the first integral output and the output of the second delay unit into the second adder; inputting the second adder output into the second subtractor after passing through an adjustable proportional controller, thereby obtaining an adjustable-rate fastest tracking filter output signal from the second subtractor. This invention can effectively improve the efficiency of output tracking input and improve filtering performance. Furthermore, by adjusting the rate, it meets the filtering requirements of different scenarios.

Description

Technical Field

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

[0002] In the field of industrial process control, high-frequency noise interference is common in process signals, and low-pass filters (LPFs) are often used to filter out high-frequency noise interference. Among them, the first-order inertial filter (FOIF) is a widely used and basic LPF. FOIF is a typical exponential tracking filtering mechanism, but it mainly suffers from the problem of low output tracking efficiency. From the perspective of improving process control performance, it is necessary to improve the output tracking efficiency of LPF.

[0003] In addition, in actual control processes, such as the control process of thermal power units, there are low-order easily controllable processes and high-order difficult-to-control processes. In order to meet the different needs of actual control processes, it is required that the efficiency of the filter output tracking the input be adjustable. For example, for low-order easily controllable processes, it is required to reduce the efficiency of the filter output tracking the input, while for high-order difficult-to-control processes, it is required to increase the efficiency of the filter output tracking the input. Summary of the Invention

[0004] The present invention aims to provide a fastest tracking filtering method, apparatus, device and storage medium with adjustable rate to solve the above-mentioned technical problems. Compared with the first-order inertial filter, it effectively improves the efficiency of output tracking input and improves filtering performance. At the same time, the adjustable rate meets the filtering requirements of different scenarios.

[0005] To address the aforementioned technical problems, this invention provides an adjustable-rate fastest tracking filtering method, comprising:

[0006] The input signal is input to the minuend input terminal of the first subtractor to obtain the feedback output signal of the first subtractor.

[0007] The feedback output signal is input to the first integrator to obtain the first integrated output signal output by the first integrator.

[0008] The first integral output signal is input to the second integrator to obtain the second integral output signal output by the second integrator.

[0009] The second integral output signal is input to the subtraction input terminal of the first subtractor to form a closed-loop feedback;

[0010] The second integral output signal is input to the first delay unit to obtain the first delayed output signal output by the first delay unit. The second integral output signal and the first delayed output signal are input to the first adder to obtain the first addition output signal output by the first adder.

[0011] The first addition output signal is input to the fixed ratio controller to obtain the fixed ratio control output signal output by the fixed ratio controller;

[0012] The first integral output signal is input to the second delay unit to obtain the second delayed output signal output by the second delay unit. The first integral output signal and the second delayed output signal are input to the second adder to obtain the second addition output signal output by the second adder.

[0013] The second addition output signal and the preset adjustable proportional gain input signal are input to the adjustable proportional controller to obtain the adjustable proportional control output signal output by the adjustable proportional controller.

[0014] The fixed proportional control output signal is input to the minuend input terminal of the second subtractor, and the adjustable proportional control output signal is input to the subtrahend input terminal of the second subtractor to obtain the adjustable rate fastest tracking filter output signal of the second subtractor.

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

[0016]

[0017] Among them, f FI (s) is the Laplace transfer function of the first integrator; T T is the integration time constant, in seconds.

[0018] Furthermore, the second integrator is expressed as:

[0019]

[0020] Among them, f SI (s) is the Laplace transfer function of the second integrator; T T is the integration time constant, in seconds.

[0021] Furthermore, the first delay is expressed as:

[0022]

[0023] Among them, f L:A (s) is the Laplace transfer function of the first delay; T F:Ais the delay time constant of the first delay unit, in seconds.

[0024] Furthermore, the second delay is expressed as:

[0025]

[0026] Among them, f L:B (s) is the Laplace transfer function of the second delay; T F:B is the delay time constant of the second delay unit, in seconds.

[0027] Furthermore, the delay time constant of the first delay unit is equal to the delay time constant of the second delay unit, and the delay time constant of the first delay unit, the delay time constant of the second delay unit, the integration time constant of the first integrator, and the integration time constant of the second integrator are all equal.

[0028] Furthermore, the adjustable-rate fastest tracking filtering method is expressed as follows:

[0029]

[0030] T L:A =T L:B =T T

[0031] K PF =0.5

[0032] K PA =K

[0033] Among them, f AFTF (s) is the Laplace transfer function of the adjustable-rate fastest tracking filter; T T T is the integration time constant, in seconds; L:A T L:B K represents the delay time constants of the first delay unit and the second delay unit, respectively, in seconds; PF K represents the gain of the fixed proportional controller, in dimensionless units. PA Let K be the gain of the adjustable proportional controller, and K be the adjustable proportional gain input signal, with dimensionless units.

[0034] The present invention also provides a fastest tracking filter device with adjustable rate, comprising a first subtractor, a first integrator, a second integrator, a first delay unit, a second delay unit, a first adder, a second adder, a fixed proportional controller, an adjustable proportional controller, and a second subtractor.

[0035] 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 second integrator, the input of the second delay unit, and the first input of the second adder; the output of the second integrator is connected to the input of the first delay unit and the first input of the first adder; the output of the first delay unit is connected to the second input of the first adder, and the output of the second delay unit is connected to the second input of the second adder; the output of the first adder is connected to the minuend input of the second subtractor through the fixed proportional controller, and the output of the second adder is connected to the subtrahend input of the second subtractor through the adjustable proportional controller.

[0036] 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 first delayer is used to output a first delayed output signal based on the second integral output signal. The second delayer is used to output a second delayed output signal based on the first integral output signal. The first adder is used to output a first added output signal based on the second integral output signal and the first delayed output signal. The second adder is used to output a second added output signal based on the first integral output signal and the second delayed output signal. The fixed proportional controller is used to output a fixed proportional control output signal based on the first added output signal. The adjustable proportional controller is used to output an adjustable proportional control output signal based on the second added output signal. The second subtractor is used to output an adjustable rate maximum tracking filter output signal based on the fixed proportional control output signal and the adjustable proportional control output signal.

[0037] 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 the adjustable-rate fastest tracking filtering method described in any one of the claims.

[0038] 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 adjustable-rate fastest tracking filtering method described in any one of the present invention.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] This invention provides an adjustable-rate fastest tracking filter method, apparatus, device, and storage medium. The method includes: inputting an input signal into a first subtractor to obtain a feedback output; inputting the feedback output into a first integrator to obtain a first integral output; inputting the first integral output into a second integrator to obtain a second integral output; inputting the second integral output into the first subtractor to form a closed-loop feedback; inputting the second integral output and the output of a first delay unit into a first adder; inputting the first adder output into the second subtractor after passing through a fixed proportional controller; inputting the first integral output and the output of the second delay unit into the second adder; inputting the second adder output into the second subtractor after passing through an adjustable proportional controller, thereby obtaining an adjustable-rate fastest tracking filter output signal from the second subtractor. This invention can effectively improve the efficiency of output tracking input and improve filtering performance. Furthermore, by adjusting the rate, it meets the filtering requirements of different scenarios. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the adjustable-rate fastest tracking filtering method provided by the present invention.

[0042] Figure 2 This is a schematic diagram of the adjustable-rate fastest tracking filter device provided by the present invention;

[0043] Figure 3 This is a schematic diagram of the output process of the fixed ratio controller provided by the present invention;

[0044] Figure 4 This is a schematic diagram of the output process of the second adder provided by the present invention;

[0045] Figure 5 This is a schematic diagram of the fastest tracking filter output process with adjustable proportional gain provided by the present invention;

[0046] Figure 6 This is a schematic diagram comparing the output of the adjustable-rate fastest tracking filter and the output of the first-order inertial filter provided by the present invention. Detailed Implementation

[0047] 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.

[0048] Please see Figure 1 This invention provides an adjustable-rate fastest tracking filter method, which may include the following steps:

[0049] S1. Input the input signal to the minuend input terminal of the first subtractor to obtain the feedback output signal of the first subtractor;

[0050] S2. Input the feedback output signal to the first integrator to obtain the first integrated output signal output by the first integrator;

[0051] S3. Input the first integral output signal to the second integrator to obtain the second integral output signal output by the second integrator;

[0052] S4. Input the second integral output signal to the subtraction input terminal of the first subtractor to form a closed-loop feedback;

[0053] S5. Input the second integral output signal to the first delay unit to obtain the first delayed output signal output by the first delay unit. Input the second integral output signal and the first delayed output signal to the first adder to obtain the first addition output signal output by the first adder.

[0054] S6. Input the first addition output signal to the fixed ratio controller to obtain the fixed ratio control output signal output by the fixed ratio controller;

[0055] S7. Input the first integral output signal to the second delay unit to obtain the second delayed output signal output by the second delay unit; input the first integral output signal and the second delayed output signal to the second adder to obtain the second addition output signal output by the second adder.

[0056] S8. Input the second addition output signal and the preset adjustable proportional gain input signal to the adjustable proportional controller to obtain the adjustable proportional control output signal output by the adjustable proportional controller;

[0057] S9. Input the fixed ratio control output signal to the minuend input terminal of the second subtractor, and input the adjustable ratio control output signal to the subtrahend input terminal of the second subtractor to obtain the adjustable rate fastest tracking filter output signal of the second subtractor.

[0058] 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 integral output signal is input to the first subtractor as the subtrahend, forming a closed-loop feedback.

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

[0060]

[0061] Among them, f FI (s) is the Laplace transfer function of the first integrator; T T is the integration time constant, in seconds.

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

[0063]

[0064] Among them, f SI (s) is the Laplace transfer function of the second integrator; T T is the integration time constant, in seconds.

[0065] In this embodiment of the invention, the first delay is further expressed as:

[0066]

[0067] Among them, f L:A (s) is the Laplace transfer function of the first delay; T F:A is the delay time constant of the first delay unit, in seconds.

[0068] In this embodiment of the invention, the second delay is further expressed as:

[0069]

[0070] Among them, f L:B (s) is the Laplace transfer function of the second delay; T F:B is the delay time constant of the second delay unit, in seconds.

[0071] In this embodiment of the invention, the delay time constant of the first delay unit is equal to the delay time constant of the second delay unit, and the delay time constant of the first delay unit, the delay time constant of the second delay unit, the integration time constant of the first integrator, and the integration time constant of the second integrator are all equal.

[0072] In this embodiment of the invention, the adjustable-rate fastest tracking filtering method is further expressed as follows:

[0073]

[0074] T L:A =T L:B =T T

[0075] KPF =0.5

[0076] K PA =K

[0077] Among them, f AFTF (s) is the Laplace transfer function of the adjustable-rate fastest tracking filter; T T T is the integration time constant, in seconds; L:A T L:B K represents the delay time constants of the first delay unit and the second delay unit, respectively, in seconds; PF K represents the gain of the fixed proportional controller, in dimensionless units. PA Let K be the gain of the adjustable proportional controller, and K be the adjustable proportional gain input signal, with dimensionless units.

[0078] It should be noted that the PID structure is based on FOIF, which represents a typical exponential tracking filter mechanism. FOIF mainly suffers from poor output-input tracking performance. To achieve NFC, which replaces PID control, the fundamental approach is to overcome the exponential tracking filter mechanism of FOIF from the perspective of LPF. Compared to a first-order inertial filter, this invention effectively improves the efficiency of output tracking input and enhances filtering performance. Furthermore, its adjustable rate meets the filtering requirements of different scenarios.

[0079] Based on the above scheme, to facilitate a better understanding of the adjustable-rate fastest tracking filtering method provided in the embodiments of the present invention, a detailed description is provided below:

[0080] In this invention, some English abbreviations are explained as follows: Adjustable Fastest Track Filter (AFTF), First-order Inertial Filter (FOIF).

[0081] 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;

[0082] The input signals specifically refer to: thermal power unit control process and secondary steam temperature process signals.

[0083] 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;

[0084] Preferably, the first integrator is expressed as:

[0085]

[0086] Among them, f FI (s) is the Laplace transfer function of the first integrator; T T The integral time constant is expressed in seconds.

[0087] 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;

[0088] The second integrator is expressed as:

[0089]

[0090] Among them, f SI (s) is the Laplace transfer function of the second integrator; T T The integral time constant is expressed in seconds.

[0091] 4. Input the second integral output signal to the subtraction input terminal of the first subtractor to form a closed-loop feedback;

[0092] 5. Input the second integral output signal to the input of the first delay unit, and obtain the first delayed output signal at the output of the first delay unit;

[0093] The first delay is expressed as:

[0094]

[0095] Among them, f L:A (s) is the Laplace transfer function of the first delay; T F:A T is the delay time constant of the first delay unit, in seconds. Preferably, T F:A =T T .

[0096] 6. Input the second integral output signal to the first input terminal of the first adder, input the first delay output signal to the second input terminal of the first adder, and add the second integral output signal and the first delay output signal to obtain the first addition output signal;

[0097] 7. Input the first integral output signal to the second delay unit to obtain the second delayed output signal;

[0098] The second delay is expressed as:

[0099]

[0100] Among them, f L:B (s) is the Laplace transfer function of the second delay; T F:BT is the delay time constant of the second delay unit, in seconds. Preferably, T F:B =T T .

[0101] 8. Input the second delayed output signal to the first input terminal of the second adder, input the first integral output signal to the second input terminal of the second adder, and add the first integral output signal and the second delayed output signal in the second adder to obtain the second addition output signal;

[0102] 9. Input the output signal of the first adder to the 0.5 fixed ratio controller to obtain the 0.5 fixed ratio control output signal;

[0103] 10. Input the output signal of the second adder to the first input terminal of the adjustable proportional controller to obtain the adjustable proportional control output signal; input the adjustable proportional gain input signal to the second input terminal of the adjustable proportional controller. The function of the adjustable proportional gain input signal is to adjust the gain of the adjustable proportional controller according to the needs of the fastest tracking filtering application scenario to achieve the required filtering performance.

[0104] The gain of the adjustable proportional controller is equal to the adjustable proportional gain input signal, which is expressed as:

[0105] K PA =K

[0106] Among them, K PA K represents the gain of the adjustable proportional controller, in dimensionless units; K represents the input signal of the adjustable proportional gain, in dimensionless units.

[0107] 11. The 0.5 fixed ratio control output signal is input to the minuend input terminal of the second subtractor, and the adjustable ratio control output signal is input to the subtrahend input terminal of the second subtractor. The second subtractor subtracts the adjustable ratio control output signal from the 0.5 fixed ratio control output signal to obtain the second subtractor output signal. The second subtractor output signal represents an adjustable rate maximum tracking filter output signal.

[0108] 12. The adjustable rate fastest tracking filtering method of this invention is expressed as follows:

[0109]

[0110] T L:A =T L:B =T T

[0111] K PF =0.5

[0112] K PA =K

[0113] Among them, f AFTF (s) is the Laplace transfer function of the adjustable rate-maximum tracking filter; T T T is the integration time constant, in seconds; L:A、 T L:B K represents the delay time constants of the first delay unit and the second delay unit, respectively, in seconds. PF The gain of the 0.5 fixed-ratio controller is dimensionless; K PA The gain of the adjustable proportional controller is dimensionless.

[0114] 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.

[0115] Please see Figure 2 The present invention also provides an adjustable-rate fastest tracking filter device, including a first subtractor, a first integrator, a second integrator, a first delay unit, a second delay unit, a first adder, a second adder, a fixed proportional controller, an adjustable proportional controller, and a second subtractor.

[0116] 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 second integrator, the input of the second delay unit, and the first input of the second adder; the output of the second integrator is connected to the input of the first delay unit and the first input of the first adder; the output of the first delay unit is connected to the second input of the first adder, and the output of the second delay unit is connected to the second input of the second adder; the output of the first adder is connected to the minuend input of the second subtractor through the fixed proportional controller, and the output of the second adder is connected to the subtrahend input of the second subtractor through the adjustable proportional controller.

[0117] 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 first delayer is used to output a first delayed output signal based on the second integral output signal. The second delayer is used to output a second delayed output signal based on the first integral output signal. The first adder is used to output a first added output signal based on the second integral output signal and the first delayed output signal. The second adder is used to output a second added output signal based on the first integral output signal and the second delayed output signal. The fixed proportional controller is used to output a fixed proportional control output signal based on the first added output signal. The adjustable proportional controller is used to output an adjustable proportional control output signal based on the second added output signal. The second subtractor is used to output an adjustable rate maximum tracking filter output signal based on the fixed proportional control output signal and the adjustable proportional control output signal.

[0118] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention. The adjustable-rate fastest tracking filter device provided by the embodiments of the present invention can implement the adjustable-rate fastest tracking filter method provided by any one of the method embodiments of the present invention.

[0119] The following is an example of the adjustable-rate fastest tracking filter device according to an embodiment of the present invention:

[0120] 1. In one embodiment, at T T =T L:A =100s, K PF =0.5, the input signal is a unit step, and the process PV of obtaining the 0.5 fixed proportional control output is obtained. KPF (t), Figure 3 As shown.

[0121] 2. In one embodiment, at T T =T L:B =100s, the input signal is a unit step, and the process PV of obtaining the output of the second adder is as follows: AB (t), Figure 4 As shown.

[0122] 3. In one embodiment, in K PF =0.5, T T =T L:A =T L:B =100s, the input signal is a unit step, and K is taken as 0.1, 0.3, and 0.5 respectively, i.e., K PA=0.1, 0.3, 0.5. The process of obtaining the fastest tracking filter output PV with the corresponding adjustable proportional gain. AFTF (t), Figure 5 As shown.

[0123] 4. In one embodiment, the filtering characteristics of the adjustable rate fastest tracking filter are compared with those of a first-order inertial filter.

[0124] A first-order inertial filter is expressed as:

[0125]

[0126] 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;

[0127] Set K PF =0.5, T T =100s, T L:A =T L:B =T T =100s, take K as 0.1, 0.3, 0.5 respectively, that is, K PA =0.1, 0.3, 0.5, T FOIF =100s. The input signal is a unit step, and the process output PV of the adjustable rate fastest tracking filter is obtained. AFTF (t) and the process output PV of the first-order inertial filter FOIF (t), Figure 6 As shown.

[0128] Depend on Figure 6 It can be seen that when t > 100s, the adjustable-rate fastest tracking filter has already tracked the input from the output, while the first-order inertial filter has tracked 64% of the input. This shows that the fastest tracking filter's output tracking efficiency is significantly higher than that of the first-order inertial filter. Similarly, the first-order inertial filter requires 100s to track the input to 64%.

[0129] Meanwhile, the adjustable rate fastest tracking filter requires 62s when the adjustable proportional controller gain is 0.1, 72s when the adjustable proportional controller gain is 0.3, and 79s when the adjustable proportional controller gain is 0.5. It can be seen that by adjusting the adjustable proportional controller gain, the tracking efficiency of the fastest tracking filter can be adjusted to meet the filtering requirements of different scenarios.

[0130] 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 adjustable-rate fastest tracking filtering methods described in the present invention.

[0131] 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 adjustable-rate fastest tracking filtering method described in any one of the present invention.

[0132] 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 with adjustable rate, 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 second integral output signal is input to the first delay unit to obtain the first delayed output signal output by the first delay unit. The second integral output signal and the first delayed output signal are input to the first adder to obtain the first addition output signal output by the first adder. The first addition output signal is input to the fixed ratio controller to obtain the fixed ratio control output signal output by the fixed ratio controller; The first integral output signal is input to the second delay unit to obtain the second delayed output signal output by the second delay unit. The first integral output signal and the second delayed output signal are input to the second adder to obtain the second addition output signal output by the second adder. The second addition output signal and the preset adjustable proportional gain input signal are input to the adjustable proportional controller to obtain the adjustable proportional control output signal output by the adjustable proportional controller. The fixed proportional control output signal is input to the minuend input terminal of the second subtractor, and the adjustable proportional control output signal is input to the subtrahend input terminal of the second subtractor to obtain the adjustable rate fastest tracking filter output signal of the second subtractor.

2. The adjustable-rate 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 T is the integration time constant, in seconds.

3. The adjustable-rate 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 T is the integration time constant, in seconds.

4. The adjustable-rate fastest tracking filtering method according to claim 1, characterized in that, The first delay is expressed as: in, f L:A ( s Let be the Laplace transfer function of the first delay; T F:A is the delay time constant of the first delay unit, in seconds.

5. The adjustable-rate fastest tracking filtering method according to claim 4, characterized in that, The second delay is expressed as: in, f L:B ( s ) is the Laplace transfer function of the second delay; T F:B is the delay time constant of the second delay unit, in seconds.

6. The adjustable-rate fastest tracking filtering method according to claim 5, characterized in that, The delay time constants of the first delay unit, the second delay unit, the integration time constant of the first integrator, and the integration time constant of the second integrator are all equal.

7. The adjustable-rate fastest tracking filtering method according to claim 1, characterized in that, The adjustable-rate fastest tracking filter method is expressed as follows: in, f AFTF ( s ) is the Laplace transfer function of the fastest tracking filter with adjustable rate; T T The integral time constant is expressed in seconds. T L:A、 T L:B These are the delay time constants of the first delay unit and the second delay unit, respectively, in seconds; K PF The gain of the fixed-ratio controller is dimensionless. K PA The gain of the adjustable proportional controller, K The input signal is a dimensionless proportional gain signal.

8. A fastest tracking filter with adjustable rate, characterized in that, It includes a first subtractor, a first integrator, a second integrator, a first delay unit, a second delay unit, a first adder, a second adder, a fixed proportional controller, an adjustable proportional controller, 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 second integrator, the input of the second delay unit, and the first input of the second adder; the output of the second integrator is connected to the subtrahend input of the first subtractor, the input of the first delay unit, and the first input of the first adder; the output of the first delay unit is connected to the second input of the first adder, and the output of the second delay unit is connected to the second input of the second adder; the output of the first adder is connected to the minuend input of the second subtractor through the fixed proportional controller, and the output of the second adder is connected to the subtrahend input of the second subtractor through the adjustable proportional controller. 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 first delayer is used to output a first delayed output signal based on the second integral output signal. The second delayer is used to output a second delayed output signal based on the first integral output signal. The first adder is used to output a first added output signal based on the second integral output signal and the first delayed output signal. The second adder is used to output a second added output signal based on the first integral output signal and the second delayed output signal. The fixed proportional controller is used to output a fixed proportional control output signal based on the first added output signal. The adjustable proportional controller is used to output an adjustable proportional control output signal based on the second added output signal and a preset adjustable proportional gain input signal. The second subtractor is used to output an adjustable rate fastest tracking filter output signal based on the fixed proportional control output signal and the adjustable proportional control 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 adjustable-rate 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 adjustable-rate fastest tracking filtering method as described in any one of claims 1 to 7.

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