PID closed loop fast assignment control method based on virtual measurement

Abstract

This invention relates to a PID closed-loop fast allocation control method based on virtual measurement, belonging to the field of automatic control technology. The method involves: receiving a general command from the upper level as the setpoint for PID allocation; the controlled variable is the final value of the sum of the output values ​​of all allocated devices after filtering; and adaptively allocating the proportional gain of the PID controller. K P and integration time T i The value is the number of devices put into automatic operation. A , Lock-up BI , Lockdown BD The calculation function value of the set is used to ensure consistent speed, stability, and quality of the allocation control under different conditions of increasing or decreasing input and lockout. The allocation PID control output is expressed as a percentage. After each device receives the control output value of the allocation PID, it is multiplied by its respective allocated rated capacity value to convert it into an engineering quantity value. Then, a manually set bias value is added to obtain the final control output value of each device, achieving flexible increase or decrease while meeting the overall command requirements. This invention has the advantages of simple, fast, flexible, and reliable allocation control.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology, specifically relating to a PID closed-loop fast allocation control method based on virtual measurement. Background Technology

[0002] Power systems control numerous similar power devices. With the development of new power systems primarily based on new energy sources, the number of such devices, such as wind power and photovoltaic power, is growing rapidly, posing significant challenges to power system control. At the power plant level, AGC and AVC control systems manage group control equipment for active power, reactive power, frequency regulation, and voltage regulation. Previously, group control in traditional hydroelectric and thermal power plants only controlled a few units; now, new energy power plants need to control dozens or even hundreds of similar devices. Traditional distribution control methods are no longer suitable for controlling new energy power generation equipment. Furthermore, traditional distribution control also suffers from problems such as the inability to allocate power according to different capacity ratios, fluctuations in the allocation process, and high resource consumption. Therefore, overcoming the shortcomings of existing technologies is a pressing issue that needs to be addressed in the field of automatic control technology. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a PID closed-loop fast allocation control method based on virtual measurement.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] The PID closed-loop fast allocation control method based on virtual measurement includes the following steps:

[0006] Step (1): Receive the incoming master command from the superior as the setpoint for assigning the PID controller, and the controlled variable PV... Z It is the final value of the sum of the output values ​​of each device after filtering, and the proportional gain K of the PID is adaptively allocated. P and integration time T i The value is a calculated function value representing the set of automatic states A, interlock increment states BI, and interlock decrement states BD for each device.

[0007] DEV = PV Z -S Z (1)

[0008] In equation (1), DEV is the deviation input for assigning the PID, and PV Z S is the final filtered value of the sum of the output values ​​of each device. Z To assign PID setpoints;

[0009]

[0010] T i=f2(A,BI,BD)=T i0 / K P (3)

[0011] In equations (2) and (3), f1(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device; f2(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device.

[0012] K P0 It is the initial setpoint of the proportional parameter of the adaptive PID controller, T. i0 This is the initial setpoint for the integral parameter of the adaptive PID controller. Through PID calculation and distribution control, iterative distribution is performed with DEV = 0 as the target, until the final value of the sum of the output values ​​of each device after filtering matches the setpoint of the distribution PID, thus ensuring the measured value PV... Z Fast and consistent response allocation of PID setpoint S Z Z i It allocates the capacity of device i; Z T It is the total capacity of the allocated equipment, which is Z. i The sum; A i This refers to the status of device i participating in automatic allocation; NOT (BI) i ) represents the unlocked increment state of the allocation device i, NOT(BD) i ) represents the unlocked state of device i, & represents the logical AND operation; n is the total number of devices;

[0013] Step (2): Calculate the final value of the sum of the output values ​​of each device after filtering, and use it as the controlled variable of the virtual measurement. The calculation is as follows:

[0014]

[0015] In equation (4), LEADLAG is the filtering module, O i It is the control output value of device i;

[0016] Step (3), calculate the control output value of device i, as follows:

[0017] O i =O PID ·Z i +B i (5)

[0018] In equation (3), O PID It is the allocation of the PID control output value, B i The bias value is set manually;

[0019] In step (4), when an individual device is locked up and increasing, if the allocation PID command continues to increase, the locked-up device will maintain its output value. According to the allocation algorithm, the devices capable of increasing will be allocated according to their capacity ratios and continuously increase until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID. When an individual device is locked up and decreasing, if the allocation PID command continues to decrease, according to the allocation algorithm, the devices capable of decreasing will be allocated according to their capacity ratios and continuously decrease. The locked-up device will maintain its output value until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID.

[0020] Furthermore, preferably, A i This refers to the status of device i participating in automatic allocation, where the status indicates whether or not it participates in automatic allocation. When participating in automatic allocation, A... i A is 0; when not participating in automatic allocation, A i The value is 1.

[0021] Furthermore, preferably, NOT(BI) i ) represents the unlocked increment state of allocation device i, where the lock-up condition imposed by external conditions exists, BI i If the value is 1, the locking condition imposed by the external condition does not exist; BI i It is 0.

[0022] Furthermore, preferably, NOT(BD) i ) represents the unlocked state of allocation device i, where the locking condition imposed by external conditions exists, BI i If the value is 1, the latch-down condition imposed by the external condition does not exist; BI i It is 0.

[0023] In this invention, B i The bias value is set manually, based on the actual situation. When the bias value is positive, the equipment control output value increases accordingly; when the bias value is negative, the equipment control output value decreases accordingly.

[0024] This invention is based on a PID closed-loop fast allocation control method using virtual measurement. It can be implemented using systems such as DCS (Distributed Control System) or PLC (Programmable Control System). The logical function of the allocation control strategy is realized through modular graphical calculations and integrated into the corresponding control loop to achieve the corresponding control function.

[0025] For the current power industry, where plant-level AGC controls multiple generator loads and AVC controls multiple reactive power regulation devices, and industrial systems control multiple similar devices in clusters, when there are more than three similar devices under control, a PID closed-loop fast allocation control method based on virtual measurement is adopted. This method can quickly adjust the instructions of each automatic device to meet the requirements of the overall instruction under various operating mode combinations, greatly reducing the complexity of the allocation control algorithm. At the same time, the algorithm is simple, occupies few module resources, and has high safety and reliability. It is an ideal upgrade method for traditional allocation control strategies based on formula algorithms and incremental algorithms.

[0026] The idea behind this invention is to receive the general instruction from the superior as the set value for PID allocation, then perform PID allocation, calculate the final value of the sum of the output values ​​of each allocated device after filtering, and compare it with the set value of the allocated PID. If there is a deviation in the deviation input DEV of the allocated PID, iterative allocation is performed until the deviation is 0. At the same time, the corresponding allocation methods for some devices when locking up and locking down are given to achieve fast allocation.

[0027] In the allocation control of similar group control equipment, this invention ensures that the group control equipment can quickly respond to the overall command from the superior unit when operating in automatic or manual mode. This ensures that the sum of commands from each operating group control equipment meets the consistency requirements of the overall command and allows for proportional increases and decreases in output by equipment with different capacities. When the output increase or decrease of some equipment is limited, the incremental increase can be quickly transferred to the output increase of other unrestricted equipment. Firstly, this invention uses a virtual measured controlled variable (i.e., the final value of the filtered sum of the output values ​​of all allocated equipment) of the output commands of the adaptive PID automatic control equipment to quickly meet the consistency requirements of the superior command. Simultaneously, the PID control output uses a quantized percentage to meet the requirement of a proportional output. The input of each equipment is converted into an engineering quantity value by multiplying the PID output percentage by the equipment capacity (i.e., the allocated rated capacity value of equipment i), and then superimposed with a manually set bias value as the final output value of the equipment. Secondly, the adaptive parameters of the PID are calculated using the manual / automatic and locked states of each equipment, ensuring that equipment in automatic mode can consistently and quickly respond to the overall command requirements in different states such as automatic, manual, reaching the upper limit, and reaching the lower limit. This invention is applied to group control and distribution control using similar equipment in engineering automatic control, such as active power distribution control (AGC) and reactive power distribution control (AVC) in power plants, and distribution control of multiple auxiliary machines in factories. It possesses the advantages of simple, fast, flexible, and reliable distribution control. Compared with existing distribution control algorithms such as parent-child distribution control algorithms using formula calculations or incremental algorithms, it can significantly reduce the number of computational modules. It has significant advantages in applications with numerous group control devices, such as new energy and hydropower plants. It can control devices of different capacities and ensure rapid consistency of distribution under various operating modes. Simultaneously, it provides offset setting correction for the output of each group of devices, ensuring flexible operation of the group control equipment. This invention provides a new, simple, and effective means for group control equipment, solving the key technical challenges of group control caused by the large number of devices in current new energy power plants. It is of great significance for the stable, fast, and reliable operation of AGC, AVC control, and auxiliary machine distribution control in new energy, hydropower, and thermal power plants.

[0028] Therefore, this method proposes a novel allocation control approach for controlling numerous group control devices in new energy sources. It employs a millisecond-level fast control cycle logic page module to achieve rapid allocation control. This method is used for AGC (Automatic Generation Control) of new energy sources, active power allocation and superposition control in primary frequency regulation, reactive power allocation and voltage control in AVC (Active Voltage Control), and can also be applied to the allocation control of similar equipment in traditional industrial systems. Group control achieved through allocation control significantly reduces the complexity of controlling similar equipment, ensuring high quality and consistency of control across different operating modes such as operation, shutdown, manual, automatic, and interlocked addition / reduction.

[0029] Compared with the prior art, the beneficial effects of this invention are as follows:

[0030] The method of this invention is simple and practical, with a computational load of less than one-fifth that of traditional allocation algorithms, and can support hundreds or thousands of allocation devices.

[0031] The method of the present invention is fast, and can achieve a distribution control adjustment time of tens of milliseconds by using a millisecond-level operation cycle, so as to meet the higher requirements of active and reactive power distribution control of new energy sources, etc.

[0032] The method of the present invention is stable and reliable. The switching between manual / automatic and interlocking states of each device does not affect the response performance of the distribution control, and the control output will not change abruptly or fluctuate.

[0033] The method of this invention is universal and applicable to the distribution control of multiple similar devices in industries such as power, energy, and chemical engineering, and has a wide range of application scenarios. Attached Figure Description

[0034] Figure 1 This is a block diagram of the PID closed-loop fast allocation control based on virtual measurement according to the present invention. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the embodiments.

[0036] Those skilled in the art will understand that the following embodiments are for illustrative purposes only and should not be construed as limiting the scope of the invention. Where specific techniques or conditions are not specified in the embodiments, they are performed in accordance with the techniques or conditions described in the literature in the field or according to the product instructions. Materials or equipment whose manufacturers are not specified are all conventional products that can be obtained by purchase.

[0037] Example 1

[0038] like Figure 1 As shown, the PI D closed-loop fast allocation control method based on virtual measurement includes the following steps:

[0039] Step (1): Receive the incoming master command from the superior as the setpoint for assigning the PID controller, and the controlled variable PV... Z It is the final value of the sum of the output values ​​of each device after filtering, and the proportional gain K of the PID is adaptively allocated. P and integration time T i The value is a calculated function value representing the set of automatic states A, interlock increment states BI, and interlock decrement states BD for each device.

[0040] DEV = PV Z -S Z (1)

[0041] In equation (1), DEV is the deviation input for assigning the PID, and PV ZS is the final filtered value of the sum of the output values ​​of each device. Z To assign PID setpoints;

[0042]

[0043] T i =f2(A,BI,BD)=T i0 / K P (3)

[0044] In equations (2) and (3), f1(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device; f2(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device.

[0045] K P0 It is the initial setpoint of the proportional parameter of the adaptive PID controller, T. i0 This is the initial setpoint for the integral parameter of the adaptive PID controller. Through PID calculation and distribution control, iterative distribution is performed with DEV = 0 as the target, until the final value of the sum of the output values ​​of each device after filtering matches the setpoint of the distribution PID, thus ensuring the measured value PV... Z Fast and consistent response allocation of PID setpoint S Z Z i It allocates the capacity of device i; Z T It is the total capacity of the allocated equipment, which is Z. i The sum; A i This refers to the status of device i participating in automatic allocation; NOT (BI) i ) represents the unlocked increment state of the allocation device i, NOT(BD) i ) represents the unlocked state of device i, & represents the logical AND operation; n is the total number of devices;

[0046] Step (2): Calculate the final value of the sum of the output values ​​of each device after filtering, and use it as the controlled variable of the virtual measurement. The calculation is as follows:

[0047]

[0048] In equation (4), LEADLAG is the filtering module, O i It is the control output value of device i;

[0049] Step (3), calculate the control output value of device i, as follows:

[0050] O i =O PID ·Z i +B i(5)

[0051] In equation (3), O PID It is the allocation of the PID control output value, B i The bias value is set manually;

[0052] In step (4), when an individual device is locked up and increasing, if the allocation PID command continues to increase, the locked-up device will maintain its output value. According to the allocation algorithm, the devices capable of increasing will be allocated according to their capacity ratios and continuously increase until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID. When an individual device is locked up and decreasing, if the allocation PID command continues to decrease, according to the allocation algorithm, the devices capable of decreasing will be allocated according to their capacity ratios and continuously decrease. The locked-up device will maintain its output value until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID.

[0053] Example 2

[0054] like Figure 1 As shown, the PID closed-loop fast allocation control method based on virtual measurement includes the following steps:

[0055] Step (1): Receive the incoming master command from the superior as the setpoint for assigning the PID controller, and the controlled variable PV... Z It is the final value of the sum of the output values ​​of each device after filtering, and the proportional gain K of the PID is adaptively allocated. P and integration time T i The value is a calculated function value representing the set of automatic states A, interlock increment states BI, and interlock decrement states BD for each device.

[0056] DEV = PV Z -S Z (1)

[0057] In equation (1), DEV is the deviation input for assigning the PID, and PV Z S is the final filtered value of the sum of the output values ​​of each device. Z To assign PID setpoints;

[0058]

[0059] T i =f2(A,BI,BD)=T i0 / K P (3)

[0060] In equations (2) and (3), f1(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device; f2(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device.

[0061] K P0 It is the initial setpoint of the proportional parameter of the adaptive PID controller, T. i0 This is the initial setpoint for the integral parameter of the adaptive PID controller. Through PID calculation and distribution control, iterative distribution is performed with DEV = 0 as the target, until the final value of the sum of the output values ​​of each device after filtering matches the setpoint of the distribution PID, thus ensuring the measured value PV... Z Fast and consistent response allocation of PID setpoint S Z Z i It allocates the capacity of device i; Z T It is the total capacity of the allocated equipment, which is Z. i The sum; A i This refers to the status of device i participating in automatic allocation; NOT (BI) i ) represents the unlocked increment state of the allocation device i, NOT(BD) i ) represents the unlocked state of device i, & represents the logical AND operation; n is the total number of devices;

[0062] Step (2): Calculate the final value of the sum of the output values ​​of each device after filtering, and use it as the controlled variable of the virtual measurement. The calculation is as follows:

[0063]

[0064] In equation (4), LEADLAG is the filtering module, O i It is the control output value of device i;

[0065] Step (3), calculate the control output value of device i, as follows:

[0066] O i =O PID ·Z i +B i (5)

[0067] In equation (3), O PID It is the allocation of the PID control output value, B i The bias value is set manually;

[0068] In step (4), when an individual device is locked up and increasing, if the allocation PID command continues to increase, the locked-up device will maintain its output value. According to the allocation algorithm, the devices capable of increasing will be allocated according to their capacity ratios and continuously increase until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID. When an individual device is locked up and decreasing, if the allocation PID command continues to decrease, according to the allocation algorithm, the devices capable of decreasing will be allocated according to their capacity ratios and continuously decrease. The locked-up device will maintain its output value until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID.

[0069] A i This refers to the status of device i participating in automatic allocation, where the status indicates whether or not it participates in automatic allocation. When participating in automatic allocation, A... i A is 0; when not participating in automatic allocation, A i The value is 1.

[0070] NOT(BI i ) represents the unlocked increment state of allocation device i, where the lock-up condition imposed by external conditions exists, BI i If the value is 1, the locking condition imposed by the external condition does not exist; BI i It is 0.

[0071] NOT(BD i ) represents the unlocked state of allocation device i, where the locking condition imposed by external conditions exists, BI i If the value is 1, the latch-down condition imposed by the external condition does not exist; BI i It is 0.

[0072] Example 3

[0073] like Figure 1 As shown, the PID closed-loop fast allocation control method based on virtual measurement includes the following steps:

[0074] Step (1): Receive the incoming master command from the superior as the setpoint for assigning the PID controller, and the controlled variable PV... Z It is the final value of the sum of the output values ​​of each device after filtering (also the inertial filtered virtual measurement value of the final output values ​​of each device), and the proportional gain K of the PID is adaptively allocated. P and integration time T i The value is a calculated function value representing the set of automatic states A, interlock increment states BI, and interlock decrement states BD for each device.

[0075] DEV = PV Z -S Z (1)

[0076] In equation (1), DEV is the deviation input for assigning the PID, and PV ZS is the final filtered value of the sum of the output values ​​of each device. Z To assign PID setpoints;

[0077]

[0078] T i =f2(A,BI,BD)=T i0 / K P (3)

[0079] In equations (2) and (3), f1(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device; f2(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device.

[0080] K P0 It is the initial setpoint of the proportional parameter of the adaptive PID controller, T. i0 This is the initial setpoint for the integral parameter of the adaptive PID controller. Through PID calculation and distribution control, iterative distribution is performed with DEV = 0 as the target, until the final value of the sum of the output values ​​of each device after filtering matches the setpoint of the distribution PID, thus ensuring the measured value PV... Z Fast and consistent response allocation of PID setpoint S Z Z i It allocates the capacity of device i; Z T It is the total capacity of the allocated equipment, which is Z. i The sum; A i This refers to the status of device i participating in automatic allocation; NOT (BI) i ) represents the unlocked increment state of the allocation device i, NOT(BD) i ) represents the unlocked state of device i, & represents the logical AND operation; n is the total number of devices;

[0081] Step (2): Calculate the final value of the sum of the output values ​​of each device after filtering, and use it as the controlled variable of the virtual measurement. The calculation is as follows:

[0082]

[0083] In equation (4), LEADLAG is the filtering module, O i It is the control output value of device i;

[0084] Step (3), calculate the control output value of device i, as follows:

[0085] O i =O PID ·Z i +B i(5)

[0086] In equation (3), O PID It is the allocation of the PID control output value, B i The bias value is set manually;

[0087] In step (4), when an individual device is locked up and increasing, if the allocation PID command continues to increase, the locked-up device will maintain its output value. According to the allocation algorithm, the devices capable of increasing will be allocated according to their capacity ratios and continuously increase until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID. When an individual device is locked up and decreasing, if the allocation PID command continues to decrease, according to the allocation algorithm, the devices capable of decreasing will be allocated according to their capacity ratios and continuously decrease. The locked-up device will maintain its output value until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID.

[0088] The principle of this control method is as follows: It receives the overall command from the higher level as the setpoint for allocating the PID controller; the controlled variable is the filtered value of the final output sum of all devices; and it adaptively allocates the proportional gain K of the PID controller. P and integration time T i The value is a calculated function value representing the set of automatic state A, interlock increase state BI, and interlock decrease state BD for each device. This ensures consistent speed, stability, and quality of the allocation control under different activation and interlock increase / decrease conditions. The allocation PID control output is expressed as a percentage. After each device receives the PID output (i.e., the control output value of the allocation PID), it is multiplied by its own capacity (i.e., the allocated rated capacity value of device i) to convert it into an engineering quantity value. Then, a manually set bias value is added to it to obtain the final control output value of each device, achieving flexible increase / decrease while meeting the overall command requirements.

[0089] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A PID closed loop fast allocation control method based on virtual measurement, characterized in that, Includes the following steps: Step (1): Receive the incoming master command from the superior as the setpoint for assigning the PID controller, and the controlled variable PV... Z It is the final value of the sum of the output values ​​of each device after filtering, and the proportional gain K of the PID is adaptively allocated. P and integration time T i The value is a calculated function value representing the set of automatic states A, interlock increment states BI, and interlock decrement states BD for each device. DEV=PV Z -S Z (1) In formula (1), DEV is a deviation input of the distribution PID, PV Z is a final value filtered for the sum of the output values of the distribution of each device, S Z is a set value of the distribution PID; T i = f2(A, B1, BD) = T i0 / K P (3) In equations (2) and (3), f1(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device; f2(A,BI,BD) is the calculation function value of the set of automatic state A, interlock increase state BI, and interlock decrease state BD of each device. K P0 It is the initial setpoint of the proportional parameter of the adaptive PID controller, T. i0 This is the initial setpoint for the integral parameter of the adaptive PID controller. Through PID calculation and distribution control, iterative distribution is performed with DEV = 0 as the target, until the final value of the sum of the output values ​​of each device after filtering matches the setpoint of the distribution PID, thus ensuring the measured value PV... Z Fast and consistent response allocation of PID setpoint S Z Z i It allocates the capacity of device i; Z T It is the total capacity of the allocated equipment, which is Z. i The sum; A i This refers to the status of device i participating in automatic allocation; NOT (BI) i ) represents the unlocked increment state of the allocation device i, NOT(BD) i ) represents the unlocked state of device i, & represents the logical AND operation; n is the total number of devices; Step (2) calculates the final value of the sum of the output values ​​of each device after filtering, as the controlled variable of the virtual measurement, as follows: In equation (4), LEADLAG is the filtering module, O i It is the control output value of device i; Step (3), calculate the control output value of device i, as follows: ABOUT i =O PID ·WITH i +B i (5) In formula (3), O PID is a control output value of the distribution PID, B i is an artificial set bias value; In step (4), when an individual device is locked up and increasing, if the allocation PID command continues to increase, the locked-up device will maintain its output value. According to the allocation algorithm, the devices capable of increasing will be allocated according to their capacity ratios and continuously increase until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID. When an individual device is locked up and decreasing, if the allocation PID command continues to decrease, according to the allocation algorithm, the devices capable of decreasing will be allocated according to their capacity ratios and continuously decrease. The locked-up device will maintain its output value until the final value of the sum of the output values ​​of all allocated devices after filtering is consistent with the set value of the allocation PID.

2. The virtual measurement-based PID closed loop fast allocation control method according to claim 1, characterized in that, A i This refers to the status of device i participating in automatic allocation, where the status indicates whether or not it participates in automatic allocation. When participating in automatic allocation, A... i A is 0; when not participating in automatic allocation, A i The value is 1.

3. The virtual measurement based PID closed loop fast allocation control method according to claim 1, characterized in that, NOT(BI i ) represents the unlocked increment state of allocation device i, where the lock-up condition imposed by external conditions exists, BI i If the value is 1, the locking condition imposed by the external condition does not exist; BI i It is 0.

4. The virtual measurement based PID closed loop fast allocation control method according to claim 1, characterized in that, NOT(BD i ) represents the unlocked state of allocation device i, where the locking condition imposed by external conditions exists, BI i If the value is 1, the latch-down condition imposed by the external condition does not exist; BI i It is 0.

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