CN109062050B - Higher-frequency disturbance observation method and device - Google Patents
Higher-frequency disturbance observation method and device Download PDFInfo
- Publication number
- CN109062050B CN109062050B CN201810966816.8A CN201810966816A CN109062050B CN 109062050 B CN109062050 B CN 109062050B CN 201810966816 A CN201810966816 A CN 201810966816A CN 109062050 B CN109062050 B CN 109062050B
- Authority
- CN
- China
- Prior art keywords
- output signal
- signal
- output
- preset
- controllers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a higher frequency disturbance observation method and a device, comprising the following steps: performing four continuous first-order inertial inverse operations on the signal to be processed through a preset first-order inertial inverse operation formula; the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained; performing fourth-order inertia operation on the fifth output signal through a preset fourth-order inertia operation formula; taking the output signal of the subtraction operation as a seventh output signal, and carrying out continuous four times of first-order inertia operation on the seventh output signal through a preset first-order inertia operation formula; multiplying the eleventh output signal by a preset first constant-1.6; summing the eighth output signal, the ninth output signal, the tenth output signal, and the twelfth output signal; and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal. For reducing the fluctuation width of the output control amount of the important process control.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a higher-frequency disturbance observation method and device.
Background
In important process control of a thermal power plant of an electric power system, it is required that a change process of an output control amount of the important process control is as smooth as possible from the viewpoint of safety. The output control variables of the important process control include: the water supply, coal supply, air distribution of the boiler, the amount of high-parameter steam entering the turbine, etc. The instability of the output control quantity change process of important process control easily causes electric power accidents, for example, the boiler is easy to extinguish fire due to large fluctuation of coal supply quantity and the unit trips accident and forms large impact on a power grid, the power oscillation is easy to cause by large fluctuation of high-parameter steam quantity entering a steam turbine to endanger the safety of the power grid, and the like.
However, in the important process control of a thermal power plant, some uncertain disturbances with relatively high frequency, referred to as high-frequency disturbances, generally exist. In an important process control loop, various observers (short for observers) are applied to improve the performance of suppressing higher-frequency disturbance. However, the observer increases the fluctuation range of the output control amount of the important process control while improving the performance of suppressing higher-frequency disturbances.
Therefore, there is a need for an observation method that can reduce the fluctuation range of the output control amount of important process control while improving the performance of suppressing higher-frequency disturbances.
Disclosure of Invention
The invention provides a higher-frequency disturbance observation method and device, which are used for reducing the fluctuation amplitude of output control quantity of important process control while improving the performance of suppressing higher-frequency disturbance.
The invention provides a higher-frequency disturbance observation method, which comprises the following steps:
through a preset first-order inertia inverse operation formula (1+ T)Os) carrying out continuous four times of first-order inertial inverse operation on the signal to be processed to obtain a first output signal, a second output signal, a third output signal and a fourth output signal in sequence, wherein TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and using the sixth output signal as a subtracted input signal of subtraction operation;
taking the output signal of the subtraction operation as a seventh output signal and using a preset first-order inertia operation formulaCarrying out continuous four times of first-order inertia operation on the seventh output signal to obtain the seventh output signal in sequenceAn eighth output signal, a ninth output signal, a tenth output signal, and an eleventh output signal;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining a sum of an eighth output signal, a ninth output signal, a tenth output signal and a twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of the subtraction operation;
and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal.
The invention provides a higher frequency disturbance observation device, comprising: the four first controllers, the first adder, the second controller, the subtracter, the four third controllers, the first multiplier, the second multiplier and the second adder are connected in series;
the four first controllers are connected in series and used for carrying out four times of continuous first-order inertial inverse operation on the input signal to be processed, wherein the formula of the first-order inertial inverse operation is (1+ T)Os) where T isOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the input end of the first adder is respectively connected with the input end of the signal to be processed and the output end of each first controller, and is used for summing the signal to be processed and the output signals of all the first controllers;
the input end of the second controller is connected with the output end of the first adder and is used for passing a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on an output signal of the first adder;
the subtracted signal input end of the subtracter is connected with the output end of the second controller, the output end of the subtracter is sequentially connected with four third controllers and the first multiplier in series, and the third controller is used for passing preset first-order inertiaFormula of operationPerforming first-order inertial operation on an input signal;
the input end of the second adder is respectively connected with the output end of the first multiplier and the output ends of the first three serially connected third controllers;
the subtraction signal input end of the subtracter is connected with the output end of the second adder;
and one input end of the second multiplier is input with a preset second constant 0.48, the other input end of the second multiplier is connected with the output end of the subtracter, and the output end of the second multiplier is used for outputting a higher-frequency disturbance observation output signal.
According to the technical scheme, the invention has the following advantages:
through a preset first-order inertia inverse operation formula (1+ T)Os) carrying out continuous four times of first-order inertial inverse operation on the signal to be processed to obtain a first output signal, a second output signal, a third output signal and a fourth output signal in sequence, wherein TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and taking the sixth output signal as a subtracted input signal of subtraction operation;
the output signal of the subtraction is used as a seventh output signal and passes through a preset first-order inertia operation formulaPerforming four successive first-order inertia operations on the seventh output signalObtaining an eighth output signal, a ninth output signal, a tenth output signal and an eleventh output signal;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining the sum of the eighth output signal, the ninth output signal, the tenth output signal and the twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of subtraction operation;
multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal;
the invention has flat amplitude-frequency and phase-frequency characteristics, and can reduce the fluctuation amplitude of the output control quantity of important process control while improving the performance of suppressing higher-frequency disturbance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an embodiment of a higher frequency disturbance observation device provided in the present invention;
fig. 2 is a schematic diagram of frequency characteristics corresponding to filtering performed by using the higher-frequency disturbance observation method provided by the present invention.
Detailed Description
The embodiment of the invention provides a higher-frequency disturbance observation method and device, which can improve the stability margin of a process control loop.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an embodiment of a higher-frequency disturbance observation method, which comprises the following steps:
through a preset first-order inertia inverse operation formula (1+ T)Os) carrying out continuous four times of first-order inertial inverse operation on the signal to be processed to obtain a first output signal, a second output signal, a third output signal and a fourth output signal in sequence, wherein TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and taking the sixth output signal as a subtracted input signal of subtraction operation;
the output signal of the subtraction is used as a seventh output signal and passes through a preset first-order inertia operation formulaPerforming four continuous first-order inertia operations on the seventh output signal to sequentially obtain an eighth output signal, a ninth output signal, a tenth output signal and an eleventh output signal;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining the sum of the eighth output signal, the ninth output signal, the tenth output signal and the twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of subtraction operation;
and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal.
Referring to fig. 1, a schematic structural diagram of an embodiment of a higher frequency disturbance observation device according to the present invention is shown.
The invention provides an embodiment of a higher frequency disturbance observation device, which comprises: four first controllers 1, first adders 2, second controllers 3, subtractors 4, four third controllers 5, first multipliers 6, second multipliers 8 and second adders 7;
the four first controllers 1 are connected in series and used for carrying out four times of continuous first-order inertial inverse operation on the input signal to be processed, wherein the formula of the first-order inertial inverse operation is (1+ T)Os) where T isOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the input end of the first adder 2 is respectively connected with the input end of the signal to be processed and the output end of each first controller 1, and is used for summing the signal to be processed and the output signals of all the first controllers 1;
the input end of the second controller 3 is connected with the output end of the first adder 2 and is used for passing a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on the output signal of the first adder 2;
the subtracted signal input end of the subtracter 4 is connected with the output end of the second controller 3, the output end of the subtracter 4 is sequentially connected with four third controllers 5 and a first multiplier 6 in series, and the third controllers 5 are used for calculating a formula through preset first-order inertiaPerforming first-order inertial operation on an input signal;
the input end of the second adder 7 is respectively connected with the output end of the first multiplier 6 and the output ends of the first three third controllers 5 connected in series;
the subtracting signal input end of the subtracter 4 is connected with the output end of the second adder 7;
the second multiplier 8 has an input terminal input with a preset second constant 0.48, another input terminal connected to the output terminal of the subtracter 4, and an output terminal of the second multiplier 8 for outputting a higher frequency disturbance observation output signal.
It should be noted that, in the present embodiment, the first three third controllers 5 connected in series specifically refer to: and three third controllers 5 among the four third controllers 5, which are not directly connected to the first multiplier 6.
Referring to fig. 2, a schematic diagram of frequency characteristics corresponding to filtering performed by the higher frequency disturbance observation method according to the present invention is shown.
In FIG. 2, ω is the sinusoidal frequency, in units rad/s; gain (ω) is a Gain frequency characteristic, with dimensionless units. Phase (ω) is the Phase frequency characteristic, in degrees; defining the frequency bandwidth of Gain (ω) at 3dB to be approximately equal to the observed frequency bandwidth ωO。
As can be seen from fig. 2, when the System frequency bandwidth (ω SFB) is smaller than the low-pass cut-off frequency ωOThe embodiment of the invention has flat amplitude-frequency and phase-frequency characteristics, and can reduce the fluctuation amplitude of the output control quantity of important process control while improving the performance of suppressing higher-frequency disturbance.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (2)
1. A method for observing higher frequency disturbances, comprising:
through a preset first-order inertia inverse operation formula (1+ T)Os) performing four successive first-order inertial inversions on the signal to be processed to obtain a first outputAn output signal, a second output signal, a third output signal and a fourth output signal, where TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a) represents an observation time constant and has a unit of s, and the signals to be processed specifically comprise the water supply quantity, the coal supply quantity and the air distribution quantity of the boiler and the high-parameter steam quantity entering the steam turbine;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and using the sixth output signal as a subtracted input signal of subtraction operation;
taking the output signal of the subtraction operation as a seventh output signal and using a preset first-order inertia operation formulaPerforming four continuous first-order inertia operations on the seventh output signal to obtain an eighth output signal, a ninth output signal, a tenth output signal and an eleventh output signal in sequence;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining a sum of an eighth output signal, a ninth output signal, a tenth output signal and a twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of the subtraction operation;
and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal.
2. A higher frequency disturbance observation apparatus, comprising: the four first controllers, the first adder, the second controller, the subtracter, the four third controllers, the first multiplier, the second multiplier and the second adder are connected in series;
the four first controllers are connected in series and used for carrying out four times of continuous first-order inertial inverse operation on the input signal to be processed, wherein the formula of the first-order inertial inverse operation is (1+ T)Os) where T isOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a) represents an observation time constant and has a unit of s, and the signals to be processed specifically comprise the water supply quantity, the coal supply quantity and the air distribution quantity of the boiler and the high-parameter steam quantity entering the steam turbine;
the input end of the first adder is respectively connected with the input end of the signal to be processed and the output end of each first controller, and is used for summing the signal to be processed and the output signals of all the first controllers;
the input end of the second controller is connected with the output end of the first adder and is used for passing a preset fourth-order inertia operation formulaPerforming fourth-order inertia operation on an output signal of the first adder;
the subtracted signal input end of the subtracter is connected with the output end of the second controller, the output end of the subtracter is sequentially connected with four third controllers and the first multiplier in series, and the third controllers are used for calculating a formula through preset first-order inertiaPerforming first-order inertial operation on an input signal;
the input end of the second adder is respectively connected with the output end of the first multiplier and the output ends of the first three serially connected third controllers;
the subtraction signal input end of the subtracter is connected with the output end of the second adder;
and one input end of the second multiplier is input with a preset second constant 0.48, the other input end of the second multiplier is connected with the output end of the subtracter, and the output end of the second multiplier is used for outputting a higher-frequency disturbance observation output signal.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810966816.8A CN109062050B (en) | 2018-08-23 | 2018-08-23 | Higher-frequency disturbance observation method and device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810966816.8A CN109062050B (en) | 2018-08-23 | 2018-08-23 | Higher-frequency disturbance observation method and device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109062050A CN109062050A (en) | 2018-12-21 |
CN109062050B true CN109062050B (en) | 2021-01-26 |
Family
ID=64755799
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810966816.8A Active CN109062050B (en) | 2018-08-23 | 2018-08-23 | Higher-frequency disturbance observation method and device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109062050B (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113189919B (en) * | 2021-05-26 | 2022-06-17 | 广东电网有限责任公司 | Control system and method for high-frequency noise power gain |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02199502A (en) * | 1989-01-30 | 1990-08-07 | Fanuc Ltd | Servo control method based on disturbance estimating observer |
US9400508B2 (en) * | 2011-04-15 | 2016-07-26 | Meidensha Corporation | Periodicity disturbance suppression device and periodicity disturbance suppression method |
CN103217902B (en) * | 2013-03-14 | 2016-05-25 | 北京航空航天大学 | A kind of instruction filtering contragradience control method based on interference observer |
CN107121934A (en) * | 2017-06-26 | 2017-09-01 | 广东电网有限责任公司电力科学研究院 | A kind of filtering method and device for obtaining pseudo- first order inertial loop |
CN107367934B (en) * | 2017-07-11 | 2021-02-19 | 中国科学院光电技术研究所 | Fast reflecting mirror stability control method based on double disturbance observers |
-
2018
- 2018-08-23 CN CN201810966816.8A patent/CN109062050B/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN109062050A (en) | 2018-12-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Shaker et al. | Frequency-interval model reduction of bilinear systems | |
US9243519B2 (en) | Systems and methods for accelerating droop response to frequency variation of an electrical grid in a combined cycle power plant | |
US20150001939A1 (en) | System stabilization device | |
WO2009125834A1 (en) | System stabilization device | |
CN106711968B (en) | Setting method and system for inverse time limit zero sequence current protection | |
CN109062050B (en) | Higher-frequency disturbance observation method and device | |
JP2018196182A (en) | Control device and reactive power compensation apparatus | |
CN109270836B (en) | Integral signal extraction method, device and equipment | |
CN109245167A (en) | Improve the control method of LCL type gird-connected inverter grid-connected current quality under weak grid | |
CN103222183A (en) | Position control device for electric motor | |
US6212540B1 (en) | Filter circuit | |
JPWO2015115623A1 (en) | Periodic disturbance suppression control device | |
CA2974885C (en) | Synchronization system for a power generation unit and method thereof | |
Misra et al. | Second order generalized integrator based synchronization technique for polluted grid conditions | |
WO2009136639A1 (en) | System stabilizing device | |
CN108649589B (en) | Subsynchronous damping control system and parameter optimization method | |
JP2014054093A (en) | Contraction model creation device, creation method, and creation program for power system | |
CN108983597B (en) | Method and device for approximating pure hysteresis | |
CN107288811B (en) | A pipe multimachine hydroelectric generating system speed regulating control circuit and method using pressure regulation Well Water Level feedback | |
CN109245743B (en) | Low-pass filtering method and device | |
CN109085747B (en) | Method and device for acquiring differential signal | |
CN109116725B (en) | High-accuracy approximate pure hysteresis method and device | |
CN108983617B (en) | High-accuracy prediction method and device | |
CN203515959U (en) | Three-order frequency vibration abatement system for wind turbine blades in wind turbine impeller rotation plane | |
RU2468406C1 (en) | Adaptive system for controlling astatic object with delay |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |