A dual fault-tolerant adaptive speed filtering method, device, medium and equipment

Abstract

This invention discloses a dual-fault-tolerant adaptive speed filtering method, apparatus, medium, and equipment, relating to the field of rotating machinery measurement and control technology. The dual-fault-tolerant adaptive speed filtering method includes: acquiring a speed sampling sequence; performing dual-fault-tolerant error prevention processing on the speed sampling sequence: determining whether to enter an error prevention state based on the cumulative change in speed within a preset time window; maintaining the output window's starting point speed value while in error prevention state; determining whether to exit the error prevention state based on the change in the current sampled value compared to the window's starting and ending point speed values; outputting the current sampled value after exiting the error prevention state; and performing adaptive filtering on the speed sequence after dual-fault-tolerant error prevention processing to output the final speed signal. This invention achieves high-reliability and high-precision speed signal extraction, meeting various application requirements such as overspeed protection, vibration analysis, and power control.

Description

Technical Field

[0001] This invention relates to a dual fault-tolerant adaptive speed filtering method, device, medium, and equipment, belonging to the field of rotating machinery measurement and control technology. Background Technology

[0002] Rotational speed is a critical operating parameter for large rotating machinery, and its measurement accuracy directly affects the safe operation of the equipment. For example, overspeed protection devices monitor rotational speed in real time, triggering protective actions when the speed exceeds a set threshold to prevent catastrophic accidents caused by overspeed. Furthermore, rotational speed signals are also widely used in control systems such as vibration analysis, power regulation, and fault diagnosis.

[0003] Rotational speed signals are typically acquired using magnetoresistive, magnetoelectric, or eddy current sensors. In industrial settings such as power plants and chemical plants, large rotating machinery is surrounded by strong electromagnetic interference sources (such as circuit breaker operation, high-power frequency converters, and high-voltage switchgear), resulting in pulse-type "dead pixels" or glitches in the sampled signals. If these dead pixels are directly used for safety-related functions such as overspeed protection, they may cause malfunctions (unnecessary emergency shutdowns) or failures to operate (delayed protection). Even when used for routine monitoring, they can lead to data distortion.

[0004] Existing speed signal processing methods are mainly divided into two categories: hardware filtering and software algorithms. Hardware filtering can suppress some noise, but it increases circuit cost and size, and its fixed parameters make it difficult to adapt to a wide speed range. Common software algorithms include:

[0005] (1) Amplitude limiting filtering method: Set the maximum allowable change amount, and discard or keep the previous value if it is exceeded. This method is simple, but it cannot distinguish between interference and real speed change (such as speed increase after load shedding), and the exit mechanism is simple, which can easily lead to signal "lock-up" or response delay.

[0006] (2) Recursive average filtering (moving average): The average value of N consecutive sampling points is taken as the output. This method is effective for periodic noise, but the fixed window length leads to a contradiction between dynamic response and smoothness: a short window results in a fast response but high noise; a long window results in good smoothness but high lag.

[0007] (3) Median filtering: The median value within the window is taken as the output. It is effective against pulse interference, but it will produce a step effect for continuously changing signals, and it also has the problem of fixed window.

[0008] Therefore, there is an urgent need for a pure software speed filtering method that can intelligently identify interference and actual speed changes and dynamically optimize the filtering effect, so as to improve the accuracy, anti-interference ability and dynamic response performance of rotating machinery speed monitoring, and meet the needs of various applications such as overspeed protection, vibration analysis and power control. Summary of the Invention

[0009] The purpose of this invention is to provide a dual fault-tolerant adaptive speed filtering method, device, medium, and equipment. Through a dual fault-tolerant adaptive mechanism, it solves the problems in the prior art of difficulty in distinguishing between instantaneous electromagnetic interference and real speed surge, and the contradiction between dynamic response and steady-state smoothness caused by fixed filtering parameters.

[0010] To achieve the above objectives, the present invention is implemented using the following technical solution.

[0011] On one hand, the present invention provides a dual fault-tolerant adaptive speed filtering method, comprising:

[0012] Obtain the rotational speed sampling sequence;

[0013] The rotational speed sampling sequence is subjected to dual fault-tolerant and error-proofing processing, which includes:

[0014] Determine whether to enter the anti-misoperation state based on the cumulative change in rotational speed within a preset time window;

[0015] In the error prevention state, the output window start point speed value is maintained; and the change in the current sampled value and the window start point speed value and window end point speed value is used to determine whether to exit the error prevention state.

[0016] After exiting the error prevention mode, output the current sampled value;

[0017] The rotational speed sequence after the dual fault-tolerant and error-prevention processing is subjected to adaptive filtering to output the final rotational speed signal.

[0018] Optionally, the process of obtaining the rotational speed sampling sequence is as follows:

[0019] The speed sensor signal is shaped into a square wave signal after hardware conditioning, and the instantaneous speed value of the square wave signal is calculated by the intermediate time method of adjacent edges to obtain the speed sampling sequence.

[0020] Optionally, the dual fault-tolerant error prevention processing includes:

[0021] Calculate the cumulative change in rotational speed within a preset time window. When the cumulative change in rotational speed exceeds a threshold, maintain the output of the rotational speed value at the start point of the current window.

[0022] Based on the subsequent current sampled values, the first change and the first change amount are calculated in real time:

[0023] ;

[0024] ;

[0025] In the formula, This is the first variable; This is the second change; The starting point rotational speed value of the window; The rotational speed value at the end of the window; This is the current sampled value;

[0026] Based on the first change and the first change and threshold The duration of the comparison determines whether to exit the error prevention state and resume outputting the current sampled value.

[0027] Optionally, the conditions for determining whether to exit the anti-misoperation state include:

[0028] Condition A: When the first change amount is continuously less than the threshold for a first duration, exit the error prevention state and output the current sampled value;

[0029] Condition B: If condition A is not met, and the time during which the second change amount is continuously less than the threshold reaches the second duration, exit the error prevention state and output the current sampled value; and during the error prevention state, if the second change amount is not less than the threshold, update the window end point rotation speed value to the current sampled value and reset the counter for the duration of the second change amount being less than the threshold.

[0030] Condition C: When the duration of the error prevention state reaches the third time since entering the error prevention state, the error prevention state will be forcibly exited and the current sampled value will be output;

[0031] If any one of conditions A, B, or C is met, the error prevention state will be exited and the current sampled value will be output.

[0032] Optionally, the threshold, the first duration, and the third duration can be configured according to different rotating machinery characteristics or the on-site electromagnetic environment; the second duration is dynamically adjusted according to the absolute value of the speed change rate calculated in real time, and the larger the absolute value of the speed change rate, the smaller the value of the second duration.

[0033] Optionally, the adaptive filtering process includes:

[0034] Real-time calculation of the absolute value of the rate of change of rotational speed;

[0035] The length of the filter window is dynamically adjusted based on the mapping relationship between the length of the filter window and the absolute value of the rate of change.

[0036] The mapping relationship is as follows: the larger the absolute value of the rate of change, the smaller the value of the filter window length;

[0037] Take the current sampling point and the L-1 points before it, forming a filter window sequence of L data points;

[0038] The filter window sequence is sorted, the maximum and minimum values ​​in the filter window sequence are removed, the arithmetic mean of the remaining L-2 data is calculated, and the average value is used as the final output filtered speed value.

[0039] Optionally, the length of the filtering window is an integer not less than 3.

[0040] Secondly, the present invention provides a dual fault-tolerant adaptive speed filtering device, comprising:

[0041] The signal acquisition module is used to: acquire the rotational speed sampling sequence;

[0042] The fault-tolerant processing module is used to perform dual fault-tolerant and error-prevention processing on the rotational speed sampling sequence, wherein the dual fault-tolerant and error-prevention processing includes:

[0043] Determine whether to enter the anti-misoperation state based on the cumulative change in rotational speed within a preset time window;

[0044] In the error prevention state, the output window start point speed value is maintained; and the change in the current sampled value and the window start point speed value and window end point speed value is used to determine whether to exit the error prevention state.

[0045] After exiting the error prevention mode, output the current sampled value;

[0046] The output module is used to: perform adaptive filtering on the speed sequence after the dual fault-tolerant and error-proofing processing, and output the final speed signal.

[0047] Thirdly, the present invention provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the dual fault-tolerant adaptive speed filtering method described in any of the first aspects.

[0048] Fourthly, the present invention provides a computer device / equipment / system, characterized in that it comprises:

[0049] Memory, used to store computer programs / instructions;

[0050] A processor for executing the computer program / instructions to implement the steps of the dual fault-tolerant adaptive speed filtering method described in any of the first aspects.

[0051] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0052] 1. High reliability and fault tolerance of the present invention: By introducing a dual change quantity and a three-time condition exit mechanism, it can accurately distinguish between instantaneous electromagnetic interference (condition A) and real speed increase (condition B), avoiding the false hold or false output that may occur in the traditional amplitude limiting method, and greatly improving the reliability of rotating machinery speed measurement in strong interference environment.

[0053] 2. This invention balances dynamic and steady-state performance: the filter window length is adaptively adjusted according to the rotational speed change rate, automatically shortening the window during transient processes such as load shedding to ensure response speed; and automatically lengthening the window under steady-state conditions to obtain smooth output and prevent false triggering caused by noise; thus solving the dilemma of fixed-window filtering.

[0054] 3. Strong robustness of the invention: By adding a "removal of maximum and minimum values" step before the recursive average filtering, an extreme value removal average filter is formed, which can effectively resist sporadic glitches that the fault-tolerant module cannot completely filter, and further improve the stability of the output signal.

[0055] 4. This invention is low-cost and easy to deploy: It is implemented entirely by software algorithms, without the need to modify existing sensors or add hardware circuits. It can be easily embedded into existing speed monitoring and protection systems (such as PLC, DEH, TSI, etc.), and has extremely high engineering practical value. Attached Figure Description

[0056] Figure 1 This is a flowchart of the dual fault-tolerant adaptive speed filtering method of the present invention;

[0057] Figure 2 The flowchart of the dual fault-tolerant and error-prevention processing of this invention is as follows:

[0058] Figure 3 This is a schematic diagram of the adaptive filtering window adjustment of the present invention;

[0059] Figure 4 The following is a timing diagram comparing the signal processing effects of the present invention, wherein: (a) is a schematic diagram of the original signal, (b) is a schematic diagram of the signal after fault tolerance processing, and (c) is a schematic diagram of the final output signal. Detailed Implementation

[0060] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0061] Example 1:

[0062] This embodiment introduces a dual fault-tolerant adaptive speed filtering method, such as... Figure 1As shown, it includes:

[0063] Obtain the rotational speed sampling sequence;

[0064] The rotational speed sampling sequence is subjected to dual fault-tolerant and error-proofing processing, which includes:

[0065] Determine whether to enter the anti-misoperation state based on the cumulative change in rotational speed within a preset time window;

[0066] In the error prevention state, the output window start point speed value is maintained; and the change in the current sampled value and the window start point speed value and window end point speed value is used to determine whether to exit the error prevention state.

[0067] After exiting the error prevention mode, output the current sampled value;

[0068] The rotational speed sequence after the dual fault-tolerant and error-prevention processing is subjected to adaptive filtering to output the final rotational speed signal.

[0069] The process for obtaining the rotational speed sampling sequence is as follows:

[0070] The speed sensor signal is shaped into a square wave signal after hardware conditioning, and the instantaneous speed value of the square wave signal is calculated by the intermediate time method of adjacent edges to obtain the speed sampling sequence.

[0071] like Figure 2 As shown, the dual fault-tolerant error prevention process includes:

[0072] Calculate the cumulative change in rotational speed within a preset time window. When the cumulative change in rotational speed exceeds a threshold, maintain the output of the rotational speed value at the start point of the current window.

[0073] Based on the subsequent current sampled values, the first change and the first change amount are calculated in real time:

[0074] ;

[0075] ;

[0076] In the formula, This is the first variable; This is the second change; The starting point rotational speed value of the window; The rotational speed value at the end of the window; This is the current sampled value;

[0077] Based on the first change and the first change and threshold The duration of the comparison determines whether to exit the error prevention state and resume outputting the current sampled value.

[0078] The conditions for determining whether to exit the error prevention state include:

[0079] Condition A: When the first change amount is continuously less than the threshold for a first duration, exit the error prevention state and output the current sampled value;

[0080] Condition B: If condition A is not met, and the time during which the second change amount is continuously less than the threshold reaches the second duration, exit the error prevention state and output the current sampled value; and during the error prevention state, if the second change amount is not less than the threshold, update the window end point rotation speed value to the current sampled value and reset the counter for the duration of the second change amount being less than the threshold.

[0081] Condition C: When the duration of the error prevention state reaches the third time since entering the error prevention state, the error prevention state will be forcibly exited and the current sampled value will be output;

[0082] If any one of conditions A, B, or C is met, the error prevention state will be exited and the current sampled value will be output.

[0083] The threshold, the first duration, and the third duration are configured according to different rotating machinery characteristics or the on-site electromagnetic environment; the second duration is dynamically adjusted according to the absolute value of the speed change rate calculated in real time, and the larger the absolute value of the speed change rate, the smaller the value of the second duration.

[0084] The adaptive filtering process includes:

[0085] Real-time calculation of the absolute value of the rate of change of rotational speed;

[0086] The length of the filter window is dynamically adjusted based on the mapping relationship between the length of the filter window and the absolute value of the rate of change.

[0087] The mapping relationship is as follows: the larger the absolute value of the rate of change, the smaller the value of the filter window length;

[0088] Take the current sampling point and the L-1 points before it, forming a filter window sequence of L data points;

[0089] The filter window sequence is sorted, the maximum and minimum values ​​in the filter window sequence are removed, the arithmetic mean of the remaining L-2 data is calculated, and the average value is used as the final output filtered speed value.

[0090] The length of the filtering window is an integer not less than 3.

[0091] Example 2:

[0092] This embodiment takes a 20 Mvar distributed synchronous condenser at a new energy power station as an example to introduce the specific implementation process of a dual fault-tolerant adaptive speed filtering method.

[0093] The camera's rated speed is 3000 rpm, and the overspeed protection setting is 3300 rpm. In actual operation, the maximum speed increase rate may exceed 500 rpm / s. The number of teeth N of the speed measuring gear is 60, the CPU sampling frequency is 1000 Hz (sampling period Ts is 1ms), and the system processes one sampling point every 1ms.

[0094] Based on the dynamic characteristics of the synchronous condenser and the on-site electromagnetic environment, the preset parameters are as follows: cumulative window M is 20 ms, and cumulative abrupt change threshold... 8 rpm, first duration The second duration is 30 ms. The duration is 40 ms, the third duration. The filter window length is 500 ms. Based on the absolute value of the rate of change of rotational speed The function is dynamically determined according to the following piecewise function, and Integers not less than 3: ① then, (Extremely rapid changes, minimum window, see...) Figure 3 (Fast zone); ② When hour, (Medium change); ③ When hour, (Steady state, maximum smoothness, see) Figure 3 Stable zone).

[0095] The above parameters are set according to the normal steady-state fluctuation range of the synchronous condenser (generally within ±3 rpm) and the maximum speed jump rate to ensure reliable triggering of anti-misoperation during actual jump, while avoiding malfunctions caused by normal fluctuations or short-term interference.

[0096] Step 1, Speed ​​Signal Measurement: The speed signal generated by the eddy current sensor is shaped into a TTL square wave by hardware, captured by the CPU timer on both sides, and the instantaneous speed is calculated using the mid-time method between adjacent edges. The formula is as follows: The sampling frequency is 1000 Hz, and the rotational speed sampling sequence is obtained. .

[0097] Step 2, Dual fault tolerance and error prevention:

[0098] Scenario 1: Transient electromagnetic interference (corresponding to condition A)

[0099] The camera was stabilized at 3000 rpm. At a certain moment, due to strong electromagnetic interference generated by the circuit breaker's operation, one sampling point jumped to 3500 rpm. The data flow at this time is as follows:

[0100] ①No. The engine speed stabilized at around 3000 rpm, and the cumulative change within the preset 20 ms window was less than 8 rpm, so the error prevention mechanism was not triggered.

[0101] ② At 20 ms: the engine speed jumps to 3500 rpm. Calculate the cumulative window. Internal variation Immediately enter error prevention mode. Record. , Start the anti-misoperation timer.

[0102] ③ 21 ms: The interference disappears, and the rotational speed returns to 3002 rpm. Calculation , The timer continues to increment; calculation Triggering condition B updates the branch. , Reset the timer.

[0103] ④ From 22 to 50 ms: The engine speed fluctuates normally between 3000 and 3005 rpm. Always less than 8 rpm The timer also started accumulating, but condition B required 40 ms to last, which was not met.

[0104] ⑤ 50 ms: When the timer reaches 30 ms, condition A is met, the system exits error prevention, and outputs the current speed (e.g., 3003 rpm).

[0105] Through the above-mentioned anti-misoperation measures, the 3500 rpm glitch was completely shielded, the output signal did not jump, and the overspeed protection did not activate erroneously. Figure 4 (b) The pulse is flattened, which corresponds to this scenario.

[0106] Scenario 2: Real-world rotational speed skyrockets (corresponding to condition B)

[0107] The camera was continuously accelerated at a rate of 500 rpm / s, increasing from 3000 rpm to 3350 rpm. The data processing at this point is as follows:

[0108] ① Enter anti-misoperation mode: Starting from 3000 rpm, increase by 0.5 rpm every 1 ms. The engine speed increased from 3000 rpm to 3009.5 rpm. At 20 ms, the engine speed reached 3010 rpm. Calculate the cumulative change over 20 ms. This triggers the error prevention mechanism. Record: , Start the anti-misoperation timer.

[0109] ② Dynamic Update (Inner Loop of Condition B): During the error prevention period, the engine speed continues to increase. Every 16 ms (engine speed increases by 8 rpm), the current... Compared to the current 8 rpm, that is Once the threshold is reached, an update is triggered. and clear to zero Timer.

[0110] For example: hour ; hour , ,renew ; hour , ,renew ; ... and so on.

[0111] Therefore, V2 never remained below 8 rpm for 40 ms, and condition B was not triggered.

[0112] ③ Stable Phase: Assume the engine speed spikes to 3350 rpm and then stabilizes (fluctuation ≤ 2 rpm). At this point, n ref It has been tracked to around 3350 rpm through dynamic updates. , The timer starts accumulating. After 40 ms, condition B is met, the system exits error prevention, and outputs the current speed (e.g., 3352 rpm).

[0113] Through the above-mentioned error prevention measures, the system maintains output during ascent. (Anti-error state) until the speed stabilizes, then exit the anti-error state and the output jumps to the actual speed (e.g., 3352 rpm). The step change in the output at the exit time is smoothed by the adaptive filtering in step 3 for subsequent sampling points. Figure 3 Rapidly changing areas in This corresponds to the rapid increase in rotational speed in this scenario. Figure 4 (c) The final output shows the actual rotation speed after the error prevention is exited, and the fluctuation is effectively suppressed.

[0114] Scenario 3: Continuous strong interference (corresponding condition C)

[0115] The camera accelerator operates normally at 3000 rpm. However, a strong random interference lasting 1.2 seconds occurred on-site due to the inverter, high-power switch, etc., causing the sampled value to... The data fluctuates irregularly. At this point, the data process is as follows:

[0116] ① Entering anti-misoperation mode: If the cumulative change within any 20 ms window quickly exceeds 8 rpm after the interference begins, anti-misoperation mode is triggered. (Record) (Normal values ​​before the interference started) (Jump value when the window ends).

[0117] ② Error prevention period (0~500 ms): Due to frequent interference fluctuations, The rpm is frequently greater than 8 rpm, causing the V1 timer to repeatedly reset and fail to accumulate to 30 ms. Condition A is not met. ,every time Time-triggered update And clear to zero Timer, therefore The timer also failed to accumulate to 40 ms. Condition B was not met.

[0118] ③ Timeout Exit: The anti-error timer continues to accumulate. When it reaches 500 ms, condition C is triggered. The system forcibly exits the anti-error mechanism and outputs the current sampled value.

[0119] By forcibly exiting the error prevention state under condition C, the system is prevented from being locked indefinitely in the error prevention state.

[0120] Step 3, Adaptive extreme value removal recursive average filtering: The fault-tolerant speed sequence output from Step 2 is filtered to further suppress residual noise.

[0121] Ascension stage ( The filter window width L is set to 3. It takes three data points: the current point and the two points before it. After discarding the maximum and minimum values, it takes the median value. For example, if the consecutive sampled values ​​are 3010, 3010.5, and 3011, 3010 and 3011 are discarded, and the output is 3010.5. The output delay is less than 1.5 ms. Figure 3 The short window in the middle ( () represents this working condition.

[0122] steady state stage ( ): Nine points were taken, the maximum and minimum values ​​were removed, and the average of the remaining seven points was calculated. For example, at a steady-state speed of 3300 rpm, the original fluctuation was ±5 rpm. After sorting and removing extreme values, the standard deviation of the averaged points decreased to <2 rpm, resulting in a noise suppression ratio >85%. (See attached image.) Figure 3 Long window in () represents this working condition.

[0123] Transition phase ( ): It balances responsiveness and smoothness.

[0124] Configure the parameters as described above ( , , , , Through logic verification, this invention achieves the following on a 20 Mvar distributed synchronous condenser (maximum ascent rate 500 rpm / s): filtering out transient electromagnetic interference pulses and restoring output within 30 ms after the interference disappears; accurately tracking the 500 rpm / s ascent, entering anti-misoperation delay for 20 ms, exiting after 40 ms stabilization, with a total delay of 60 ms; and 500 ms timeout protection under continuous strong interference to avoid anti-misoperation lockout. The adaptive filtering window during the ascent phase ( Ensure dynamic response, steady-state phase ( It provides high smoothness.

[0125] This embodiment fully demonstrates the effectiveness and reliability of the method of the present invention in overspeed protection of distributed synchronous condensers. This method can be directly applied to overspeed protection logic. Preferably, the exit time t2 of condition B can be dynamically adjusted according to the rate of change of rotational speed to further shorten the overspeed protection response delay. Under extreme speed increases, it is still recommended to use it in conjunction with an independent hardware overspeed protection channel to enhance system redundancy.

[0126] Example 3:

[0127] Based on the same inventive concept as Embodiment 1, this embodiment introduces a dual fault-tolerant adaptive speed filtering device, comprising:

[0128] The signal acquisition module is used to: acquire the rotational speed sampling sequence;

[0129] The fault-tolerant processing module is used to perform dual fault-tolerant and error-prevention processing on the rotational speed sampling sequence, wherein the dual fault-tolerant and error-prevention processing includes:

[0130] Determine whether to enter the anti-misoperation state based on the cumulative change in rotational speed within a preset time window;

[0131] In the error prevention state, the output window start point speed value is maintained; and the change in the current sampled value and the window start point speed value and window end point speed value is used to determine whether to exit the error prevention state.

[0132] After exiting the error prevention mode, output the current sampled value;

[0133] The output module is used to: perform adaptive filtering on the speed sequence after the dual fault-tolerant and error-proofing processing, and output the final speed signal.

[0134] The specific functions of each module described above are explained in the relevant content of the method in Embodiment 1, and will not be repeated here.

[0135] Example 4:

[0136] Based on the same inventive concept as other embodiments, this embodiment introduces a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the steps of the dual fault-tolerant adaptive speed filtering method as described in any of Embodiment 1.

[0137] Example 5:

[0138] Based on the same inventive concept as other embodiments, this embodiment introduces a computer device / apparatus / system, characterized in that it includes:

[0139] Memory, used to store computer programs / instructions;

[0140] A processor is configured to execute the computer program / instructions to implement the steps of the dual fault-tolerant adaptive speed filtering method as described in any of Embodiment 1.

[0141] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0142] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0143] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0144] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0145] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A dual-fault-tolerant adaptive speed filtering method, characterized in that, include: Obtain the rotational speed sampling sequence; The rotational speed sampling sequence is subjected to dual fault-tolerant and error-proofing processing, which includes: Determine whether to enter the anti-misoperation state based on the cumulative change in rotational speed within a preset time window; In the error prevention state, the output window start point speed value is maintained; and the change in the current sampled value and the window start point speed value and window end point speed value is used to determine whether to exit the error prevention state. After exiting the error prevention mode, output the current sampled value; The rotational speed sequence after the dual fault-tolerant and error-prevention processing is subjected to adaptive filtering to output the final rotational speed signal.

2. The dual fault-tolerant adaptive speed filtering method according to claim 1, characterized in that, The process for obtaining the rotational speed sampling sequence is as follows: The speed sensor signal is shaped into a square wave signal after hardware conditioning, and the instantaneous speed value of the square wave signal is calculated by the intermediate time method of adjacent edges to obtain the speed sampling sequence.

3. The dual fault-tolerant adaptive speed filtering method according to claim 1, characterized in that, The dual fault-tolerant and error-prevention processing includes: Calculate the cumulative change in rotational speed within a preset time window. When the cumulative change in rotational speed exceeds a threshold, maintain the output of the rotational speed value at the start point of the current window. Based on the subsequent current sampled values, the first change and the first change amount are calculated in real time: ； ； In the formula, This is the first variable; This is the second change; The starting point rotational speed value of the window; The rotational speed value at the end of the window; This is the current sampled value; Based on the first change and the first change and threshold The duration of the comparison determines whether to exit the error prevention state and resume outputting the current sampled value.

4. The dual fault-tolerant adaptive speed filtering method according to claim 3, characterized in that, The conditions for determining whether to exit the error prevention state include: Condition A: When the first change amount is continuously less than the threshold for a first duration, exit the error prevention state and output the current sampled value; Condition B: If condition A is not met, and the time during which the second change amount is continuously less than the threshold reaches the second duration, exit the error prevention state and output the current sampled value; and during the error prevention state, if the second change amount is not less than the threshold, update the window end point rotation speed value to the current sampled value and reset the counter for the duration of the second change amount being less than the threshold. Condition C: When the duration of the error prevention state reaches the third time since entering the error prevention state, the error prevention state will be forcibly exited and the current sampled value will be output; If any one of conditions A, B, or C is met, the error prevention state will be exited and the current sampled value will be output.

5. The dual fault-tolerant adaptive speed filtering method according to claim 4, characterized in that, The threshold, the first duration, and the third duration are configured according to different rotating machinery characteristics or the on-site electromagnetic environment; the second duration is dynamically adjusted according to the absolute value of the speed change rate calculated in real time, and the larger the absolute value of the speed change rate, the smaller the value of the second duration.

6. The dual fault-tolerant adaptive speed filtering method according to claim 1, characterized in that, The adaptive filtering process includes: Real-time calculation of the absolute value of the rate of change of rotational speed; The length of the filter window is dynamically adjusted based on the mapping relationship between the length of the filter window and the absolute value of the rate of change. The mapping relationship is as follows: the larger the absolute value of the rate of change, the smaller the value of the filter window length; Take the current sampling point and the L-1 points before it, forming a filter window sequence of L data points; The filter window sequence is sorted, the maximum and minimum values ​​in the filter window sequence are removed, the arithmetic mean of the remaining L-2 data is calculated, and the average value is used as the final output filtered speed value.

7. The dual fault-tolerant adaptive speed filtering method according to claim 6, characterized in that, The length of the filtering window is an integer not less than 3.

8. A dual fault-tolerant adaptive speed filtering device, characterized in that, include: The signal acquisition module is used to: acquire the rotational speed sampling sequence; The fault-tolerant processing module is used to perform dual fault-tolerant and error-prevention processing on the rotational speed sampling sequence, wherein the dual fault-tolerant and error-prevention processing includes: Determine whether to enter the anti-misoperation state based on the cumulative change in rotational speed within a preset time window; In the error prevention state, the output window start point speed value is maintained; and the change in the current sampled value and the window start point speed value and window end point speed value is used to determine whether to exit the error prevention state. After exiting the error prevention mode, output the current sampled value; The output module is used to: perform adaptive filtering on the speed sequence after the dual fault-tolerant and error-proofing processing, and output the final speed signal.

9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the dual fault-tolerant adaptive speed filtering method as described in any one of claims 1 to 7.

10. A computer device / equipment / system, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the dual fault-tolerant adaptive speed filtering method according to any one of claims 1 to 7.

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