CN107179691A - A kind of method and apparatus for obtaining pseudo- first order inertial loop - Google Patents
A kind of method and apparatus for obtaining pseudo- first order inertial loop Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of method and apparatus for obtaining pseudo- first order inertial loop, during for solving automatic disturbance rejection controller being used for across rank control, there is the technical problem of Immunity Performance decline.The method of the pseudo- first order inertial loop of acquisition of the embodiment of the present invention includes：The present count parameter of inertial object is acquired by various identification Methods；Wave filter is combined to form junction filter successively；Inertial object is in parallel with junction filter progress, pseudo- first order inertial loop is obtained, the inertial object is converted into the pseudo- first order inertial loop.
Description
Technical field
The present invention relates to process control field, more particularly to a kind of method and apparatus for obtaining pseudo- first order inertial loop.
Background technology
In process control practices, across rank control is generally existing, for example, lower order controller is used for into High order Plant
Control.PID (Proportion integration differentiation) controller belongs to a kind of second order feedback controller, PID
There is good control characteristic to second order object.Across rank control is feasible to PID control, for example, (be more than PID for high-order
Second order) object control, can be handled by parameter depression of order, by High order Plant Parameter Switch be second order image parameter, can obtain good
Good across rank control characteristic.
Automatic disturbance rejection controller ADRC (Active disturbance rejection controller) is used for across rank control
System, the problem of there is Immunity Performance decline.For example, the single order ADRC Immunity Performances for being used for High order Plant control will be had into larger journey
The decline of degree, this not be one by image parameter depression of order handle can preferably solve the problem of.Reason is：In theory,
ADRC exponent number needs are corresponding with the exponent number of control object, and ADRC has excellent disturbance rejection control performance in rank, but across rank
The Immunity Performance of control, which has, largely to be declined, and this is the Simple Idea that is determined of paradox of things.For High order Plant
ADRC controls, direct solution is exactly to increase ADRC exponent number, but with the increase of ADRC exponent numbers, ADRC structure
Also more tend to complicate, for example, three rank above ADRC of construction are just considerably complicated, usual ADRC exponent number is limited in three ranks
Within.Therefore, across the rank control theory research to automatic disturbance rejection controller also has more worth discussions.By first-order linear active disturbance rejection control
Device processed is used to be more than one order inertia object control, and preferable method is exactly that will be greater than one order inertia object to be converted to pseudo- one order inertia
Link.
The content of the invention
The embodiments of the invention provide a kind of method and apparatus for obtaining pseudo- first order inertial loop, solve first-order linear
When automatic disturbance rejection controller is used for across rank control, there is the technical problem of Immunity Performance decline.
A kind of method for obtaining pseudo- first order inertial loop provided in an embodiment of the present invention, including step：
S1：Pass through the present count inertia constant of Model Distinguish acquisition inertial object, present count gain, present count exponent number, institute
State inertial object and be expressed as formula：
Wherein, IO (s) is the transmission function of the inertial object；TαFor the present count inertia constant of the inertial object；Kα
For the present count gain of the inertial object；N is the present count exponent number of the inertial object；
S2：Uniform filtering time constant, the first filter gain of first wave filter, the first wave filter expression are set
For formula：
Wherein, F1 (s) is the transmission function of first wave filter；TFFor the uniform filtering time constant；KF1For institute
State the first filter gain；
S3：Second wave filter is set to the uniform filtering time constant of present count filter order, second filtering
Device is expressed as formula to the present count filter order：
Wherein, Fm (s) is the described second transmission function for arriving the present count filter order；M arrives for described second
The numbering of the present count filter order, 2≤m≤n；N is the present count exponent number；TFIt is normal for the uniform filtering time
Number；
S4：First wave filter to present count filter order is connected, and by second wave filter described in
The output result of present count filter order is sequentially overlapped output, forms junction filter, and the junction filter is expressed as
Formula：
Wherein, F (s) is the transmission function of the junction filter；KF1For first filter gain；TFFor the system
One time constant filter；N is the present count exponent number；
S5：Set first filter gain to be equal to the present count gain, the uniform filtering time constant is set
It is equal to the present count inertia constant, the inertial object is in parallel with junction filter progress, obtain pseudo- one order inertia
Link, the pseudo- first order inertial loop is expressed as formula：
Wherein, FOIO (s) is the transmission function of the pseudo- first order inertial loop；IO (s) is the transmission of the inertial object
Function；F (s) is the transmission function of the junction filter；TαFor the present count inertia constant；KαFor the present count gain；
N is the present count exponent number；KF1For first filter gain；TFFor the uniform filtering time constant.
A kind of device of the pseudo- first order inertial loop of acquisition provided in the embodiment of the present invention, including：Predetermined inertial object,
Model Distinguish unit, the first digital filter device, the second wave filter to present count filter order, first-order linear Active Disturbance Rejection Control
Device, first wave filter is first differential device, and second wave filter to present count filter order is filtered for one order inertia
Ripple device；
First wave filter to present count filter order is connected, and by the second wave filter to present count order filtration
The output result of device is sequentially overlapped output, forms junction filter；
By the pseudo- first order inertial loop of junction filter formation in parallel with inertial object, by the output knot of pseudo- first order inertial loop
Fruit input first-order linear automatic disturbance rejection controller, realizes first-order linear automatic disturbance rejection controller to the single order line more than one order inertia object
Property Active Disturbance Rejection Control；
First wave filter is expressed as formula：
Wherein, F1 (s) is the transmission function of the first wave filter；TFFor uniform filtering time constant, unit s；KF1For first
Filter gain, unit dimensionless；
Second wave filter is to the uniform filtering time constant of present count filter order, and second wave filter is described in
Present count filter order is expressed as formula：
Wherein, Fm (s) is the described second transmission function for arriving the present count filter order；M arrives for described second
The numbering of the present count filter order, 2≤m≤n；N is the present count exponent number, 1<n<16；TFFor the unified filter
Ripple time constant, unit is s；Second wave filter to the present count filter order be one order inertia wave filter；
Junction filter is expressed as formula：
Wherein, F (s) is the transmission function of junction filter；KF1For the first filter gain, unit dimensionless；TFFor system
One time constant filter, unit s；N is present count exponent number；
Pseudo- first order inertial loop is expressed as formula：
Wherein, FOIO (s) is the transmission function of pseudo- first order inertial loop；IO (s) is the transmission function of inertial object；F(s)
For the transmission function of junction filter；TαFor present count inertia constant, unit s；KαFor present count gain, unit dimensionless；N is
Present count exponent number, unit dimensionless；KF1For the first filter gain, unit dimensionless；TFFor uniform filtering time constant, unit
s。
As can be seen from the above technical solutions, the present invention has advantages below：
The present count parameter of inertial object is obtained by various identification Methods；Wave filter is combined to form combination successively
Wave filter；Inertial object is in parallel with junction filter progress, pseudo- first order inertial loop is obtained, pseudo- first order inertial loop is inputted
First-order linear automatic disturbance rejection controller, solves the technical problem that inertial object is converted to pseudo- first order inertial loop.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is median filter combination process schematic diagram of the embodiment of the present invention；
Fig. 2 is junction filter schematic diagram in parallel with inertial object in the embodiment of the present invention；
Fig. 3 is first-order linear Active Disturbance Rejection Control of the junction filter for being more than one order inertia object in the embodiment of the present invention
Schematic diagram；
Fig. 4 is that the device of the pseudo- first order inertial loop of acquisition in the embodiment of the present invention is used for across the rank control of three rank inertial objects
It is used for across the rank Control experiment effect contrast figure of three rank inertial objects with first-order linear automatic disturbance rejection controller.
Embodiment
The embodiments of the invention provide a kind of method and apparatus for obtaining pseudo- first order inertial loop, for solving to obtain inertia
The technical problem of object puppet first order inertial loop.
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
One of the method for the pseudo- first order inertial loop of a kind of acquisition provided in Fig. 1-Fig. 3, the embodiment of the present invention is provided
Embodiment, including：
S1：By the present count inertia constant of Model Distinguish acquisition inertial object, present count gain, present count exponent number, it is used to
Sex object is expressed as formula：
Wherein, IO (s) is the transmission function of inertial object；TαFor the present count inertia constant of inertial object；KαFor inertia pair
The present count gain of elephant；N is the present count exponent number of inertial object；
The present count parameter of inertial object is obtained, the present count of inertial object can be acquired by various identification Methods
Parameter.Inertial object is expressed as formula (1):
In formula (1), IO (s) is the transmission function of inertial object；TαFor present count inertia constant, unit s；KαIt is default
Number gain, unit dimensionless；N is present count exponent number, unit dimensionless；The present count exponent number n>1, the present count exponent number n
Can not be infinitely great, limit the present count exponent number n<16.
S2：Uniform filtering time constant, the first filter gain of first wave filter are set, and the first wave filter is expressed as public affairs
Formula：
Wherein, F1 (s) is the transmission function of the first wave filter；TFFor uniform filtering time constant；KF1For the first wave filter
Gain；
First wave filter is set, and the first wave filter is expressed as formula (2):
In formula (2), F1 (s) is the transmission function of first wave filter；TFFor uniform filtering time constant, unit s；
KF1For first filter gain, unit dimensionless；The substantially first differential device of first wave filter.
S3：Second wave filter is set to the uniform filtering time constant of present count filter order, second filtering
Device is expressed as formula to the present count filter order：
Wherein, Fm (s) is the described second transmission function for arriving the present count filter order；M arrives for described second
The numbering of the present count filter order, 2≤m≤n；N is the present count exponent number；TFIt is normal for the uniform filtering time
Number；
Second wave filter is set to the present count filter order, formula (3) is expressed as:
In formula (3), F2 (s) is the transmission function of the second wave filter；F3 (s) is the transmission function of the 3rd wave filter；F4
(s) it is the transmission function of the 4th wave filter；Fn (s) is the transmission function of present count filter order；N is the present count rank
Number, unit dimensionless；TFFor uniform filtering time constant, unit s；Second wave filter is to the present count order filtration
The substantially one order inertia wave filter of device.
S4：First wave filter to present count filter order is connected, and by the second wave filter to present count exponent number
The output result of wave filter is sequentially overlapped output, forms junction filter, and junction filter is expressed as formula：
Wherein, F (s) is the transmission function of junction filter；KF1For the first filter gain；TFIt is normal for the uniform filtering time
Number；N is present count exponent number；
First wave filter is combined to the present count filter order, the first wave filter is preset to
Number filter order series connection, and the output result of the second wave filter to present count filter order is sequentially overlapped output, shape
Into junction filter, junction filter is obtained, formula (4) is expressed as:
In formula (4), F (s) is the transmission function of junction filter；KF1For first filter gain, unit is immeasurable
Guiding principle；TFFor the uniform filtering time constant, unit s；N is the present count exponent number.
The flow of the junction filter, as shown in Figure 1.
S5：Set first filter gain to be equal to the present count gain, the uniform filtering time constant is set
It is equal to the present count inertia constant, the inertial object is in parallel with junction filter progress, obtain pseudo- one order inertia
Link, the pseudo- first order inertial loop is expressed as formula：
Wherein, FOIO (s) is the transmission function of the pseudo- first order inertial loop；IO (s) is the transmission of the inertial object
Function；F (s) is the transmission function of the junction filter；TαFor the present count inertia constant；KαFor the present count gain；
N is the present count exponent number；KF1For first filter gain；TFFor the uniform filtering time constant.
First filter gain is set to be equal to the present count gain；The uniform filtering time constant is set to be equal to
The present count inertia constant；It is expressed as formula (5):
In formula (5), KF1For first filter gain, unit dimensionless；KαFor the present count gain, unit without
Dimension；TF1For the uniform filtering time constant, unit s；KαFor the inertia constant, unit s.
The inertial object is in parallel with junction filter progress, obtain pseudo- first order inertial loop；It is expressed as formula
(6):
In formula (6), FOIO (s) is the transmission function of pseudo- first order inertial loop；IO (s) is the transmission of the inertial object
Function；F (s) is the transmission function of the junction filter；TαFor the present count inertia constant, unit s；KαPreset to be described
Number gain, unit dimensionless；N is the present count exponent number, unit dimensionless；KF1For first filter gain, unit without
Dimension；TFFor the uniform filtering time constant, unit s.
The inertial object is in parallel with junction filter progress, as shown in Fig. 2 by inertial object and combined filter
Device carries out parallel connection, by the output of inertial object and the outer output progress addition fortune around transmission Signal averaging and with junction filter
Calculate, as shown in figure 3, the inertial object is converted into the pseudo- first order inertial loop.Junction filter is used to be more than single order
The first-order linear Active Disturbance Rejection Control of inertial object, realizes first-order linear automatic disturbance rejection controller to the single order more than one order inertia object
Linear active disturbance rejection is controlled.
In the present embodiment, the present count parameter of inertial object is obtained by various identification Methods；By wave filter successively
Combination forms junction filter；Inertial object is in parallel with junction filter progress, pseudo- first order inertial loop is obtained, by type B error one
The output input first-order linear automatic disturbance rejection controller of rank inertial element, solves inertial object being converted to pseudo- first order inertial loop
Technical problem.
A kind of one implementation of the device of the pseudo- ratio link of the acquisition provided in Fig. 1-Fig. 4, the embodiment of the present invention is provided
Example, a kind of device for obtaining pseudo- first order inertial loop, including three rank inertial objects, Model Distinguish unit, the first digital filter device,
Second wave filter is to present count filter order, first-order linear automatic disturbance rejection controller, and first wave filter is first differential
Device, second wave filter to present count filter order is one order inertia wave filter；
As shown in figure 1, first wave filter is connected and second filtering to the present count filter order
The output result of device to the present count filter order is sequentially overlapped output and forms junction filter；
As shown in Fig. 2 forming pseudo- first order inertial loop by junction filter is in parallel with the inertial object；
As shown in figure 3, inertial object is in parallel with junction filter progress, the output of inertial object is believed with outer around transmission
Number superposition simultaneously carries out add operation with the output of junction filter, by the output end of pseudo- first order inertial loop and the first-order linear
The input of automatic disturbance rejection controller is connected；
First wave filter is expressed as formula：
Wherein, F1 (s) is the transmission function of first wave filter；TFFor the uniform filtering time constant, unit s；
KF1For first filter gain, unit dimensionless；
Second wave filter is expressed as formula to the present count filter order：
Wherein, Fm (s) is the described second transmission function for arriving the present count filter order；M arrives for described second
The numbering of the present count filter order, 2≤m≤n；N is the present count exponent number, 1<n<16；TFFor the unified filter
Ripple time constant, unit is s；Second wave filter to the present count filter order be one order inertia wave filter；
The junction filter is expressed as formula：
Wherein, F (s) is the transmission function of the junction filter；KF1For first filter gain, unit is immeasurable
Guiding principle；TFFor the uniform filtering time constant, unit s；N is the present count exponent number；
The pseudo- first order inertial loop is expressed as formula：
Wherein, FOIO (s) is the transmission function of the pseudo- first order inertial loop；IO (s) is the transmission of the inertial object
Function；F (s) is the transmission function of the junction filter；TαFor the present count inertia constant, unit s；KαPreset to be described
Number gain, unit dimensionless；N is the present count exponent number, unit dimensionless；KF1For first filter gain, unit without
Dimension；TFFor the uniform filtering time constant, unit s.
As shown in figure 4, the device for obtaining pseudo- first order inertial loop is used for into across the rank control of three rank inertial objects and with one
Rank linear active disturbance rejection controller is used for across the rank control of three rank inertial objects in T α=100s, and transmission is disturbed used for single order in K α=1 outside
Property link, inertia constant 10s, during inertia gain 1, with PV (t) expression the output of process signal obtain contrast and experiment.
In the present embodiment, the present count parameter of inertial object is acquired by various identification Methods；By wave filter according to
Secondary combination forms junction filter；Inertial object is in parallel with junction filter progress, pseudo- first order inertial loop is obtained, will be described
Inertial object is converted to the pseudo- first order inertial loop, when solving automatic disturbance rejection controller for across rank control, there is anti-interference
The technical problem of hydraulic performance decline, show the present invention anti-outer immunity can on good advantage.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (2)
1. a kind of method for obtaining pseudo- first order inertial loop, it is characterised in that including step：
S1：It is described used by the present count inertia constant of Model Distinguish acquisition inertial object, present count gain, present count exponent number
Sex object is expressed as formula：
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Wherein, IO (s) is the transmission function of the inertial object；TαFor the present count inertia constant of the inertial object；KαFor institute
State the present count gain of inertial object；N is the present count exponent number of the inertial object；
S2：Uniform filtering time constant, the first filter gain of first wave filter are set, and first wave filter is expressed as public affairs
Formula：
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Wherein, F1 (s) is the transmission function of first wave filter；TFFor the uniform filtering time constant；KF1For described
One filter gain；
S3：Second wave filter is set to the uniform filtering time constant of present count filter order, second wave filter is arrived
The present count filter order is expressed as formula：
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Wherein, Fm (s) is the described second transmission function for arriving the present count filter order；M is described second described in
The numbering of present count filter order, 2≤m≤n；N is the present count exponent number；TFFor the uniform filtering time constant；
S4：First wave filter to present count filter order is connected, and second wave filter is pre- to described the
If the output result of number filter order is sequentially overlapped output, junction filter is formed, the junction filter is expressed as formula：
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Wherein, F (s) is the transmission function of the junction filter；KF1For first filter gain；TFFor the unified filter
Ripple time constant；N is the present count exponent number；
S5：Set first filter gain to be equal to the present count gain, set the uniform filtering time constant to be equal to
The present count inertia constant, the inertial object is in parallel with junction filter progress, pseudo- first order inertial loop is obtained,
The pseudo- first order inertial loop is expressed as formula：
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</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mi>n</mi>
<mo>-</mo>
<mn>2</mn>
</mrow>
</munderover>
<mfrac>
<mn>1</mn>
<msup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msup>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<mfrac>
<msub>
<mi>K</mi>
<mi>&alpha;</mi>
</msub>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>&alpha;</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, FOIO (s) is the transmission function of the pseudo- first order inertial loop；IO (s) is the transmission function of the inertial object；
F (s) is the transmission function of the junction filter；TαFor the present count inertia constant；KαFor the present count gain；N is institute
State present count exponent number；KF1For first filter gain；TFFor the uniform filtering time constant.
2. a kind of device for obtaining pseudo- first order inertial loop, it is characterised in that including predetermined inertial object, Model Distinguish list
Member, the first digital filter device, the second wave filter to present count filter order, first-order linear automatic disturbance rejection controller, described
One wave filter is first differential device, and second wave filter to present count filter order is one order inertia wave filter；
First wave filter is connected to the present count filter order and second wave filter is to the present count
The output result of filter order is sequentially overlapped output and forms junction filter, and the junction filter and the inertial object are simultaneously
Connection forms pseudo- first order inertial loop, and the output end of the pseudo- first order inertial loop is defeated with the first-order linear automatic disturbance rejection controller
Enter end to be connected；
First wave filter is expressed as formula：
<mrow>
<mi>F</mi>
<mn>1</mn>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>F</mi>
<mn>1</mn>
</mrow>
</msub>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
</mrow>
Wherein, F1 (s) is the transmission function of first wave filter；TFFor the uniform filtering time constant；KF1For described
One filter gain；
Second wave filter is expressed as formula to the present count filter order：
<mrow>
<mi>F</mi>
<mi>m</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
</mrow>
Wherein, Fm (s) is the described second transmission function for arriving the present count filter order；M is described second described in
The numbering of present count filter order, 2≤m≤n；N is the present count exponent number,；TFFor the uniform filtering time constant；
Second wave filter to the present count filter order be one order inertia wave filter；
The junction filter is expressed as formula：
<mrow>
<munder>
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>n</mi>
<mo>></mo>
<mn>1</mn>
</mrow>
</munder>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>F</mi>
<mn>1</mn>
</mrow>
</msub>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
<mfrac>
<mn>1</mn>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mi>n</mi>
<mo>-</mo>
<mn>2</mn>
</mrow>
</munderover>
<mfrac>
<mn>1</mn>
<msup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msup>
</mfrac>
</mrow>
Wherein, F (s) is the transmission function of the junction filter；KF1For first filter gain；TFFor the unified filter
Ripple time constant；N is the present count exponent number；
The pseudo- first order inertial loop is expressed as formula：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>F</mi>
<mi>O</mi>
<mi>I</mi>
<mi>O</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>I</mi>
<mi>O</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<mfrac>
<msub>
<mi>K</mi>
<mi>&alpha;</mi>
</msub>
<msup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>&alpha;</mi>
</msub>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mi>n</mi>
</msup>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>F</mi>
<mn>1</mn>
</mrow>
</msub>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
<mfrac>
<mn>1</mn>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mi>n</mi>
<mo>-</mo>
<mn>2</mn>
</mrow>
</munderover>
<mfrac>
<mn>1</mn>
<msup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>F</mi>
</msub>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msup>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<mfrac>
<msub>
<mi>K</mi>
<mi>&alpha;</mi>
</msub>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>&alpha;</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, FOIO (s) is the transmission function of the pseudo- first order inertial loop；IO (s) is the transmission function of the inertial object；
F (s) is the transmission function of the junction filter；TαFor the present count inertia constant；KαFor the present count gain；N is institute
State present count exponent number；KF1For first filter gain；TFFor the uniform filtering time constant.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495086A (en) * | 2018-11-08 | 2019-03-19 | 广东电网有限责任公司 | A kind of inertia combination filtering method, device and equipment |
| CN110955143A (en) * | 2019-11-27 | 2020-04-03 | 清华大学 | Compound control method for first-order inertia pure lag process |
| CN113162567A (en) * | 2021-05-26 | 2021-07-23 | 广东电网有限责任公司 | Design method and device of inertia combined filter and terminal equipment |
-
2017
- 2017-06-26 CN CN201710495122.6A patent/CN107179691A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495086A (en) * | 2018-11-08 | 2019-03-19 | 广东电网有限责任公司 | A kind of inertia combination filtering method, device and equipment |
| CN110955143A (en) * | 2019-11-27 | 2020-04-03 | 清华大学 | Compound control method for first-order inertia pure lag process |
| CN113162567A (en) * | 2021-05-26 | 2021-07-23 | 广东电网有限责任公司 | Design method and device of inertia combined filter and terminal equipment |
| CN113162567B (en) * | 2021-05-26 | 2022-04-12 | 广东电网有限责任公司 | Design method and device of inertia combined filter and terminal equipment |
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Application publication date: 20170919 |