CN110554683B - Multi-mode self-adaptive dynamic excitation adding method in periodic control process - Google Patents
Multi-mode self-adaptive dynamic excitation adding method in periodic control process Download PDFInfo
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Abstract
A multi-mode self-adaptive dynamic excitation adding method in a periodic control process comprises the following steps: (1.1) determining an added excitation type according to a system to be tested, and constructing a multi-mode excitation attribute configuration table; (1.2) determining an excitation adding condition and an excitation changing condition of each excitation type according to each excitation type in the multi-mode excitation attribute configuration table, and constructing a multi-mode excitation adding condition and excitation changing condition criterion table; (1.3) constructing a multi-mode excitation adding process dynamic execution table, wherein the table contains parameters and state marks related in the multi-mode excitation adding condition and excitation changing condition execution process; (1.4) dividing the excitation adding process of different modes into periodical quantized excitation quantities, and determining the output quantity of each mode excitation in each period; and (1.5) determining related parameters and state flags in the step (1.3) according to the contents of the two tables in the steps (1.1) and (1.2) in each period, and completing the self-adaptive dynamic addition of the multi-modal excitation in real time in the control process according to the table contents in the step (1.3).
Description
Technical Field
The invention relates to a multi-mode self-adaptive dynamic excitation adding method in a periodic control process, which is a uniform control excitation adding framework and mainly solves the problem that in the control process, excitation signals of various waveforms are actively output to a system to observe the dynamic running state of the system.
Background
In the field of industrial control, the working process and the working state of a system often need to be monitored in real time for a long time, the operating characteristics of a plurality of systems cannot be obtained through individual technical indexes, and the operating characteristics can be obtained only by active exploration. Inputting control excitation signals into a normally working system to track the feedback behavior and characteristics of the system is an effective method for 'active exploration'.
The conventional excitation adding method often requires manual intervention, and a large amount of labor and time cost is required when the operation period of an equipment system is long. In addition, the excitation form that can be added by the method is often a point pulse form, and it is difficult to realize an excitation scheme that can perform comprehensive systematic 'communication' with the system to be monitored, so that the obtained information is often incomplete, and the deviation of designers and engineers on the performance and performance of the system can be misled.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and a multi-mode self-adaptive dynamic excitation adding method in the periodic control process is provided.
The technical scheme of the invention is as follows: a multi-mode self-adaptive dynamic excitation adding method in a periodic control process comprises the following steps:
(1.1) determining an added excitation type according to a system to be tested, and constructing a multi-mode excitation attribute configuration table according to the excitation type;
(1.2) determining an excitation adding condition and an excitation changing condition of each excitation type according to each excitation type in the multi-mode excitation attribute configuration table, and constructing a multi-mode excitation adding condition and excitation changing condition criterion table;
(1.3) constructing a multi-mode excitation adding process dynamic execution table, wherein the table contains parameters and state marks related in the multi-mode excitation adding condition and excitation changing condition execution process;
(1.4) dividing the excitation adding process of different modes into periodical quantized excitation quantities, and determining the output quantity of each mode excitation in each period;
and (1.5) determining related parameters and state flags in the step (1.3) according to the contents of the two tables in the steps (1.1) and (1.2) in each period, and completing the self-adaptive dynamic addition of the multi-mode excitation in real time in the control process according to the table contents in the step (1.3).
Preferably, the step (1.1) of configuring the attribute field of the multi-modal excitation attribute configuration table includes: the waveform type of excitation addition, the amplitude of excitation addition, the excitation enabling condition, whether excitation is allowed to be changed or not and the duration period number of single waveform of excitation; the modification means that before the excitation waveform is not completely added, when the excitation meets the modification condition, the addition is stopped by modifying the excitation waveform.
Preferably, the adding conditions and the changing conditions excited in the step (1.2) comprise: an excited add condition index, an excited add condition index threshold, an excited add condition combination mode, an excited add condition index filtering periodicity, an excited change condition index threshold, an excited change condition combination mode, an excited change condition index filtering periodicity; and the number of the filter cycles of the excitation adding condition indexes and the number of the filter cycles of the excitation changing condition indexes are the number of the statistical cycles required for filtering the excitation adding condition indexes or the excitation changing condition indexes.
Preferably, the combination of the stimulus adding conditions and the combination of the stimulus changing conditions are a combination of the stimulus adding conditions and the stimulus changing conditions in a logical operation manner to form a stimulus adding composite condition or a stimulus changing composite condition.
Preferably, the filtering mode of adding condition indexes to the excitation and the filtering mode of changing condition indexes from the excitation adopt filtering methods capable of avoiding instantaneous abnormal signal interference, including but not limited to mean filtering, median filtering, and random sampling filtering methods.
Preferably, the step (1.3) of constructing the attribute field of the multi-modal incentive addition process dynamic execution table includes: excitation addition enable state flag, excitation addition condition index filter value, excitation addition condition filter cumulant, excitation addition flag, excitation output period number, excitation improvement enable flag, excitation improvement condition index filter value, excitation improvement condition filter cumulant, and excitation addition completion flag.
Preferably, the step (1.4) of determining the amount of each modal excitation output per cycle is performed by:
according to the waveform type and the excitation adding amplitude of excitation adding in the multi-mode excitation attribute configuration table, discretizing according to the number of cycles, and outputting each cycle according to a constant which is equal to the amplitude of a discrete point, so that an excitation output pulse cycle table is obtained, wherein the table comprises a group of cycles and a sequence pair of pulse signal amplitudes, and the number of items in the table forms the pulse signal amplitude required to be output in each output cycle in an excitation waveform cycle; and searching an excitation output pulse period table according to the period number in each period, and determining the excitation output quantity of the current period.
Preferably, the step (1.4) of determining the amount of each modal excitation output per cycle is performed by:
according to the waveform type and the excitation adding amplitude of excitation adding in the multi-modal excitation attribute configuration table, discretizing according to the cycle number, outputting each cycle according to a constant, wherein the constant is equal to the amplitude of discrete points, and determining the amplitude of the discrete points according to the cycle number in each cycle to be used as the excitation output quantity of the current cycle.
Preferably, the step (1.5) completes the adaptive dynamic addition of the multi-modal excitation, and each period of the adaptive dynamic addition process processes the excitation of each mode, and the excitation processing step for each mode is as follows:
(9.1) judging whether an excitation addition finished mark in a multi-mode excitation addition process dynamic execution table corresponding to the current mode is true, if so, performing subsequent step processing on the mode excitation without the need of processing, and ending the period of processing; otherwise, executing step (9.2);
(9.2) judging whether an excitation enabling condition in the multi-mode excitation attribute configuration table is met, if so, setting an excitation addition enabling state flag in the multi-mode excitation addition process dynamic execution table to be a true value, and executing the step (9.3); if the enabling condition is not satisfied, the subsequent steps do not need to be carried out on the modal excitation, and the cycle processing is finished;
(9.3) judging whether the incentive adding mark is a true value according to the content of the dynamic execution table of the multi-modal incentive adding process, and if the incentive adding mark is the true value, executing (9.4); otherwise, calculating the current excitation adding mark value according to the multi-mode excitation adding condition and the excitation change condition criterion table, if the calculated current excitation adding mark value is true, executing (9.4), and if the calculated current excitation adding mark value is false, ending the period processing;
(9.4) judging whether the current excitation in the multi-mode excitation attribute configuration table is allowed to be changed, and if not, executing (9.5); otherwise, judging whether an excitation change enabling mark in the multi-mode excitation adding process dynamic execution table is true, if so, calculating a current excitation change mark value by the multi-mode excitation adding condition and the excitation change condition criterion table, if so, turning to (9.6), and if not, executing (9.5);
(9.5) performing excitation output according to the determined mode excitation output quantity of the current period, judging whether the current period reaches the excitation adding continuous period number, and if so, turning to the step (9.6); otherwise, entering the next period;
(9.6) setting an incentive addition completed flag in the multi-modal incentive addition process dynamic execution table to true.
Preferably, the current incentive add/modify flag value is calculated by:
adding 1 to the accumulated quantity of the excitation adding/extracting condition filtering in the multi-mode excitation adding process dynamic execution table, sampling the excitation adding/extracting condition indexes to obtain a value, and storing the value into a sampling queue structure for storing the excitation adding/extracting condition indexes according to the time sequence;
judging whether the accumulated amount of the excitation adding/extracting condition filtering in the multi-modal excitation adding process dynamic execution table is equal to the number of the excitation adding/extracting condition index filtering cycles defined in the multi-modal excitation adding condition and excitation extracting condition criterion table: if not, the current excitation adding/changing flag value is false, otherwise, the subsequent steps are executed;
calculating an excitation adding/extracting condition index filtering value of the multi-modal excitation adding process dynamic execution table, and judging whether the calculated excitation adding/extracting condition index filtering value of the multi-modal excitation adding process dynamic execution table is more than or equal to an excitation adding/extracting condition index threshold value of the multi-modal excitation adding condition and the excitation extracting condition criterion table: and if the current excitation adding/changing flag value is not less than 1, the current excitation adding/changing flag value is false, and the accumulated quantity of the excitation adding/changing condition filtering in the multi-mode excitation adding process dynamic execution table is reduced by 1.
Preferably, the excitation adding/changing-out condition index sampling queue is a first-in first-out circular queue structure, the number of elements capable of being accommodated in the queue is greater than the number of filtering cycles of the excitation adding/changing-out condition indexes defined in the multi-modal excitation adding condition and excitation changing-out condition criterion table, and when the queue is full, the oldest element in the queue is replaced by the newest element.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes the compatibility of various excitation forms by performing tabular definition on the excitation characteristics and the excitation adding conditions and unifying the running processes of different modal excitations into a dynamic running table in the same form in the running process. The adding process of the excitation and the mode of the excitation define independent technical characteristics, so that the excitation of different modes can be independently operated and added, and better adaptability is achieved. Meanwhile, various constraint conditions of system operation are considered in the method, dynamic adjustment can be performed according to the state of the system in the operation process, a healthier interactive relation between the incentive adding process and the system is kept, and an optimal means is provided for observing dynamic data of the system. Specifically, the method comprises the following steps:
1. the method can adapt to the condition that excitation of multiple modes needs to be added in the same monitoring process in a system by tabulating the adding process of the excitation, such as the excitation types of the modes of sine waves, square waves, pulses and the like need to be added at the same time;
2. in the process of the incentive dynamic addition operation, the problems that addition is not needed and addition cannot be performed are fully considered, namely, a user can select a process without adding incentive completely, and meanwhile, when the incentive addition is allowed, constraints on the incentive addition can be increased, so that after a system meets certain conditions, the incentive addition is performed, and the control on the incentive addition process is more detailed;
3. usually, the stimulus is added to observe the change of each index of the system in the process of interacting with the stimulus signal, but in the process, the normal function and the use experience of the system cannot be influenced. Based on the requirement, the method and the device can be compatible in the process of adding the incentive, if indexes of the system do not meet the conditions given by the user due to various reasons, even the reason of adding the incentive, the addition of the incentive is cancelled, and the damage of the system caused by the addition of the incentive is avoided.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
A multi-mode self-adaptive dynamic excitation adding method in a periodic control process is realized by the following steps:
(1.1) determining an added excitation type according to a system to be tested, and constructing a multi-mode excitation attribute configuration table according to the excitation type:
the system to be tested can be any system needing to be tested theoretically, and is generally an electrical system or a control system, the excitation type is determined according to the test requirement of the test system, the excitation type generally comprises sine waves and square waves, and the excitation attribute domain of the excitation attribute configuration table comprises: the method comprises the steps of adding excitation, judging whether the excitation is allowed to be changed or not, and judging the duration period of a single waveform of the excitation, wherein the change refers to that the excitation is changed when the change condition is met before the excitation waveform is not completely added, namely the addition is stopped.
(1.2) determining an incentive adding condition and an incentive changing condition of each incentive type according to each incentive type in the multi-modal incentive attribute configuration table, and constructing a multi-modal incentive adding condition and incentive changing condition criterion table:
the adding condition and the changing condition of the incentive include: the method comprises the following steps of exciting an adding condition index, an exciting adding condition index threshold, an exciting adding condition combination mode, an exciting adding condition index filtering periodicity, an exciting changing condition index threshold, an exciting changing condition combination mode, an exciting changing condition index filtering mode and an exciting changing condition index filtering periodicity, wherein the exciting adding condition index filtering periodicity and the exciting changing condition index filtering periodicity are statistical periodicities required for filtering the exciting adding condition index or the exciting changing condition index; the combination mode of adding conditions of the excitation and the combination mode of changing conditions of the excitation mean that the adding conditions or the changing conditions of the excitation are combined together in a logical operation mode (the logical operation includes but is not limited to AND, OR, NOT and the like) to form an excitation adding composite condition or an excitation changing composite condition; the filtering mode of adding condition indexes into the excitation and the filtering mode of changing the condition indexes out of the excitation adopt filtering methods capable of avoiding instantaneous abnormal signal interference, and the filtering methods include but are not limited to mean filtering, median filtering and random sampling filtering methods.
(1.3) constructing a multi-mode excitation adding process dynamic execution table, wherein the table comprises parameters and state flags related in the multi-mode excitation adding condition and excitation changing condition execution process:
the multi-modal incentive addition process dynamic execution table includes attribute fields including: excitation addition enable state flag, excitation addition condition index filter value, excitation addition condition filter cumulant, excitation addition flag, excitation output period number, excitation improvement enable flag, excitation improvement condition index filter value, excitation improvement condition filter cumulant, excitation improvement flag, and excitation addition completion flag.
(1.4) the excitation adding process of different modes is divided into periodical quantized excitation quantity, and the quantity of excitation output of each mode is determined in each period:
according to the waveform type and the excitation adding amplitude of excitation adding in the multi-mode excitation attribute configuration table, discretizing according to the number of cycles, and outputting each cycle according to a constant which is equal to the amplitude of a discrete point, so that an excitation output pulse cycle table is obtained, wherein the table comprises a group of cycles and a sequence pair of pulse signal amplitudes, and the number of items in the table forms the pulse signal amplitude required to be output in each output cycle in an excitation waveform cycle; and searching an excitation output pulse period table according to the period number in each period, and determining the excitation output quantity of the current period.
Of course, it is also possible to omit the excitation output pulse period table during the actual processing, and determine the amplitude of the discrete point directly according to the period number of each period, and use the amplitude as the excitation output amount of the current period.
And (1.5) determining related parameters and state flags in the step (1.3) according to the contents of the two tables in the steps (1.1) and (1.2) in each period, and completing the self-adaptive dynamic addition of the multi-mode excitation in real time in the control process according to the table contents in the step (1.3).
Calculating the excitation adding condition and the output quantity of each mode excitation in each period in the control process, wherein each period circularly processes the excitation of each mode, and the excitation processing steps for each mode are as follows:
(9.1) judging whether an excitation addition finished mark in a multi-mode excitation addition process dynamic execution table corresponding to the current mode is true, if so, performing subsequent step processing on the mode excitation without the need of processing, and ending the period of processing; otherwise, executing step (9.2);
(9.2) judging whether an excitation enabling condition in the multi-mode excitation attribute configuration table is met, if so, setting an excitation addition enabling state flag in the multi-mode excitation addition process dynamic execution table to be a true value, and executing the step (9.3); if the enabling condition is not satisfied, the subsequent steps do not need to be carried out on the modal excitation, and the cycle processing is finished;
(9.3) judging whether the incentive adding mark is a true value according to the content of the dynamic execution table of the multi-modal incentive adding process, and if the incentive adding mark is the true value, executing (9.4); otherwise, calculating the current excitation adding mark value according to the multi-mode excitation adding condition and the excitation change condition criterion table, if the calculated current excitation adding mark value is true, executing (9.4), and if the calculated current excitation adding mark value is false, ending the period processing;
(9.4) judging whether the current excitation in the multi-mode excitation attribute configuration table is allowed to be changed, and if not, executing (9.5); otherwise, judging whether an excitation change enabling mark in the multi-mode excitation adding process dynamic execution table is true, if so, calculating a current excitation change mark value by the multi-mode excitation adding condition and the excitation change condition criterion table, if so, turning to (9.6), and if not, executing (9.5);
(9.5) performing excitation output according to the determined mode excitation output quantity of the current period, judging whether the current period reaches the excitation adding continuous period number, and if so, turning to the step (9.6); otherwise, entering the next period;
(9.6) setting an incentive addition completed flag in the multi-modal incentive addition process dynamic execution table to true.
In order to increase reliability and reduce the coupling relationship between steps, in the implementation steps given below, each step independently judges its own execution condition, and ensures consistency of execution. The excitation processing steps for each modality are as follows:
(1.5.1) judging whether an excitation addition finished mark in a multi-mode excitation addition process dynamic execution table corresponding to the current mode is true, if so, not needing to process the subsequent steps aiming at the mode excitation;
(1.5.2) judging whether adding the excitation of the corresponding mode is allowed according to the excitation enabling condition in the multi-mode excitation attribute configuration table, and if the enabling condition is met, setting an excitation adding enabling state flag in the multi-mode excitation adding process dynamic execution table to be a true value. If the enabling condition is not met, the subsequent steps do not need to be carried out on the modal excitation;
(1.5.3) judging whether the excitation meets the adding condition and the excitation adding process, comprising the following steps:
(1.5.3.1) determining whether the incentive has entered the enabled state based on the contents of the multimodal incentive addition process dynamic execution table:
(1.5.3.1.a) if the excitation addition enabling state flag is false in the multi-mode excitation addition process dynamic execution table, ending the step;
(1.5.3.1.b) if the excitation addition enabling state flag is true in the multi-modal excitation addition process dynamic execution table, judging whether the excitation addition flag in the current multi-modal excitation addition process dynamic execution table is true:
(1.5.3.1.b.a) if the excitation adding flag in the multi-modal excitation adding process dynamic execution table is true, skipping the step (1.5.3.1.b.b) and directly starting to execute the subsequent steps from the step (1.5.3.2);
(1.5.3.1.b.b) if the excitation adding mark in the multi-modal excitation adding process dynamic execution table is false, adding 1 to the excitation adding condition filtering accumulated quantity in the multi-modal excitation adding process dynamic execution table, sampling the excitation adding condition indexes to obtain a value, and storing the value into a sampling queue structure for storing the excitation adding condition indexes according to the time sequence. Then judging whether the accumulated amount of the excitation adding condition filtering in the multi-modal excitation adding process dynamic execution table is equal to the number of the excitation adding condition index filtering cycles defined in the multi-modal excitation adding condition and excitation changing condition criterion table:
(1.5.3.1.b.b.a) if not equal, then go to (1.5.3.2);
(1.5.3.1.b.b.b) if equal: calculating an excitation adding condition index filtering value of the multi-modal excitation adding process dynamic execution table, and then judging whether the excitation adding condition index filtering value of the multi-modal excitation adding process dynamic execution table obtained by calculation in the step is more than or equal to an excitation adding condition index threshold value of a multi-modal excitation adding condition and an excitation changing condition criterion table:
(1.5.3.1.b.b.b.a) if the excitation adding flag in the multi-modal excitation adding process dynamic execution table is set to be true, and then the step is executed (1.5.3.2);
(1.5.3.1. b.b.b.b.b) if the accumulated quantity of the excitation adding condition filtering in the multi-modal excitation adding process dynamic execution table is less than 1, continuing to judge the true condition of the excitation adding mark in the multi-modal excitation adding process dynamic execution table in the next beat;
(1.5.3.2) determining whether the stimulus addition flag in the multi-modal stimulus addition process dynamic execution table is true:
(1.5.3.2.a) if the excitation adding mark in the dynamic execution table of the multi-mode excitation adding process is false, ending the step;
(1.5.3.2.b) if the incentive adding flag in the multi-modal incentive adding process dynamic execution table is true, if the incentive in the multi-modal incentive attribute configuration table allows the change-out flag to be false, directly jumping to the step (1.5.3.3); otherwise, if the excitation permission improvement flag in the multi-modal excitation attribute configuration table is true, judging that the excitation improvement enabling flag in the multi-modal excitation adding process dynamic execution table is:
(1.5.3.2.b.a) if the excitation change enable flag in the multi-modal excitation addition process dynamic execution table is false, skipping the steps subsequent to step (1.5.3.2.b) and directly entering step (1.5.3.3);
(1.5.3.2.b.b) if the excitation change enable flag in the multi-modal excitation adding process dynamic execution table is true, adding 1 to the excitation change condition filtering accumulated quantity in the multi-modal excitation adding process dynamic execution table, sampling the excitation change condition indexes to obtain a value, and storing the value into a queue structure for storing the excitation change condition indexes according to the time sequence. Then judging whether the accumulated quantity of the excitation change condition filtering in the multi-modal excitation adding process dynamic execution table is equal to the number of filtering cycles of the excitation change condition index defined in the multi-modal excitation adding condition and excitation change condition criterion table:
(1.5.3.2.b.b.a) if the accumulated amount of excitation improvement condition filtering in the multi-modal excitation adding process dynamic execution table is equal to the number of cycles of excitation improvement condition index filtering defined in the multi-modal excitation adding condition and excitation improvement condition criteria table, then:
(1.5.3.2.b.b.a.1) calculating and updating the current filter value and the filter value of the modification condition index of the excitation in the multi-modal excitation adding process dynamic execution table;
(1.5.3.2.b.b.a.2) when the filter value and the filter value of the excitation change condition index in the multi-modal excitation adding process dynamic execution table are greater than or equal to the threshold values of the excitation change condition index in the multi-modal excitation adding condition and the excitation change condition index in the excitation change condition criterion table, setting the excitation change flag in the multi-modal excitation adding process dynamic execution table to be true;
(1.5.3.2.b.b.a.3) when the filter value and the filter value of the excitation change-out condition index in the multi-modal excitation adding process dynamic execution table are smaller than the threshold values of the excitation change-out condition index in the multi-modal excitation adding condition and the excitation change-out condition index in the excitation change-out condition criterion table, subtracting 1 from the accumulated amount of the excitation change-out condition filter in the multi-modal excitation adding process dynamic execution table;
(1.5.3.2.b.b.b) if the accumulated amount of excitation improvement condition filtering in the multi-modal excitation adding process dynamic execution table is not equal to the number of excitation improvement condition index filtering cycles defined in the multi-modal excitation adding condition and excitation improvement condition criterion table, directly jumping to (1.5.3.3);
(1.5.3.3) determining whether the incentive modification flag in the multimodal incentive addition process dynamic execution table is true:
(1.5.3.3.a) if true, jumping to (1.5.3.5);
(1.5.3.3.b) if false, jumping to (1.5.3.4);
(1.5.3.4) adding 1 to the number of excitation output cycles in the multi-modal excitation addition process dynamic execution table, and outputting a one-cycle excitation pulse signal according to the excitation output pulse cycle table and the number of excitation output cycles in the current multi-modal excitation addition process dynamic execution table;
(1.5.3.5) if the number of excitation output cycles in the multi-modal excitation addition process dynamic execution table is equal to the number of excitation single waveform duration cycles defined in the multi-modal excitation attribute configuration table or the excitation change flag in the multi-modal excitation addition process dynamic execution table is true, setting the excitation addition completion flag in the multi-modal excitation addition process dynamic execution table to true.
Example 1
1. Description of the working state of the system:
the rated voltage of the system power supply is 5V, and the rated voltage of the core component work is 2.5V.
The control period of the system is 5 ms.
2. Excitation description:
after the system is started and operated for 5 minutes, a sinusoidal excitation with the period of 1s and the amplitude of 1V is added to the system power supply voltage. To understand the effect of the supply voltage on the operating voltage of the core components.
The excitation adding condition is that the operating voltage deviation of the core component is within 0.3V.
The excitation allows a change-out condition in which the core component operating voltage deviation exceeds 0.5.
3. Description of stimulus addition procedure:
the multi-modal attribute configuration table is defined as follows:
| stimulus addition waveform | Excitation added amplitude | Stimulus enabled condition | Whether the incentive allows a change out | Number of sustained periods of excitation waveform |
| Sine wave | 1 | After the system runs for 5 minutes | Is that | 200 |
A multi-modal excitation adding condition and excitation improvement condition criterion table is defined as follows:
the multi-modal excitation addition process dynamic execution table is defined as follows:
the implementation of the stimulus addition is described as follows:
(1) after the system operates, the working voltage of the core component is collected once in each period and is recorded as VcoreCounting the running period number, and recording as Tk;
(2) checking the value of the variable Tk in each period, checking whether the condition Tk is more than 5 multiplied by 60 multiplied by 1000 divided by 5 divided by 60000 periods, and setting an excitation addition enabling state flag in the multi-mode excitation addition process dynamic execution table as 'true' when the Tk is more than or equal to 60000, otherwise, continuously waiting;
(3) multimodal stimulus addition processWhen the excitation addition enabling flag is 'true', namely the system runs for 5 minutes, the dynamic execution table starts to judge whether the condition of adding excitation to the system is met, namely the filtered core voltage value is represented as
Whether or not to satisfy
If yes, entering an excitation adding process, otherwise, continuing to wait until the condition of adding excitation of the system is met;
(4) when the system adds the excitation condition, that is
Then the Tk value at this time is recorded as Tk0And begins to add stimuli to the system in the next 200 cycles. The process consists of two substeps:
(4.1) before adding an incentive, first, judging whether the current state of the system meets the change-out condition of the incentive, namely
If the current state of the system meets the excitation change condition, the excitation does not need to be added in the current beat, and only the mark that the excitation addition is finished is set as true;
(4.2) adding an excitation signal, and outputting a pulse period table according to the generated excitation and the current excitation output period number delta Tk as Tk-Tk0To determine the amplitude of the output pulse signal in the current period. Δ Tk serves as an index to look up the excitation output pulse period table. The value of the periodic table of the excitation output pulses is calculated as follows
A(ΔTk)＝sin(2×π×ΔTk÷200)
(4.3) checking whether Δ Tk is equal to 200, and if so, setting the stimulus addition complete flag to "true" if the stimulus signal has been added.
The excitation signal filtering method is described as follows:
in the problem, the filtered quantity is required to be obtained by adopting a mean value filtering or median value filtering method for the monitored quantity core component working voltage. In the two filtering methods, the statistical period of the mean filtering is 3 control periods, and the statistical period of the median filtering is 5 control periods, so that a first-in first-out circular queue storing 5 variables can be established to store the latest sampling value of the core component working voltage of 5 periods, and when the 6 th sampling value is stored, the oldest sampling value in the circular queue is replaced. The average filtering only needs to take the first three sampling values and average; the median filtering needs to take out 5 sampling values in the queue, sort the sampling values and take the middle sampling value.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (11)
1.A multi-mode self-adaptive dynamic excitation adding method in a periodic control process is characterized by comprising the following steps:
(1.1) determining an added excitation type according to a system to be tested, and constructing a multi-mode excitation attribute configuration table according to the excitation type;
(1.2) determining an excitation adding condition and an excitation changing condition of each excitation type according to each excitation type in the multi-mode excitation attribute configuration table, and constructing a multi-mode excitation adding condition and excitation changing condition criterion table;
(1.3) constructing a multi-mode excitation adding process dynamic execution table, wherein the table contains parameters and state marks related in the multi-mode excitation adding condition and excitation changing condition execution process;
(1.4) dividing the excitation adding process of different modes into periodical quantized excitation quantities, and determining the output quantity of each mode excitation in each period;
and (1.5) determining related parameters and state flags in the step (1.3) according to the contents of the two tables in the steps (1.1) and (1.2) in each period, and completing the self-adaptive dynamic addition of the multi-mode excitation in real time in the control process according to the table contents in the step (1.3).
2. The method of claim 1, wherein said step (1.1) of multi-modal stimulus attribute configuration table attribute field comprises: the waveform type of excitation addition, the amplitude of excitation addition, the excitation enabling condition, whether excitation is allowed to be changed or not and the duration period number of single waveform of excitation; the modification means that before the excitation waveform is not completely added, when the excitation meets the modification condition, the addition is stopped by modifying the excitation waveform.
3. The method of claim 1, wherein the step (1.2) of actuating add conditions and change conditions comprises: an excited add condition index, an excited add condition index threshold, an excited add condition combination mode, an excited add condition index filtering periodicity, an excited change condition index threshold, an excited change condition combination mode, an excited change condition index filtering periodicity; and the number of the filter cycles of the excitation adding condition indexes and the number of the filter cycles of the excitation changing condition indexes are the number of the statistical cycles required for filtering the excitation adding condition indexes or the excitation changing condition indexes.
4. The method of claim 3, wherein: the combination mode of adding the incentive conditions and the combination mode of changing the incentive conditions means that the incentive adding conditions or the incentive changing conditions are combined together in a logic operation mode to form an incentive adding composite condition or an incentive changing composite condition.
5. The method of claim 3, wherein: the filtering mode of adding condition indexes of excitation and the filtering mode of changing condition indexes of excitation adopt filtering methods capable of avoiding instantaneous abnormal signal interference, and the filtering methods comprise mean filtering, median filtering and random sampling filtering methods.
6. The method of claim 1, wherein: the step (1.3) of constructing the attribute field of the dynamic execution table of the multi-modal excitation adding process comprises the following steps: excitation addition enable state flag, excitation addition condition index filter value, excitation addition condition filter cumulant, excitation addition flag, excitation output period number, excitation improvement enable flag, excitation improvement condition index filter value, excitation improvement condition filter cumulant, and excitation addition completion flag.
7. The method of claim 1, wherein said step (1.4) of determining the amount of each modal excitation output per cycle is performed by:
according to the waveform type and the excitation adding amplitude of excitation adding in the multi-mode excitation attribute configuration table, discretizing according to the number of cycles, and outputting each cycle according to a constant which is equal to the amplitude of a discrete point, so that an excitation output pulse cycle table is obtained, wherein the table comprises a group of cycles and a sequence pair of pulse signal amplitudes, and the number of items in the table forms the pulse signal amplitude required to be output in each output cycle in an excitation waveform cycle; and searching an excitation output pulse period table according to the period number in each period, and determining the excitation output quantity of the current period.
8. The method of claim 1, wherein said step (1.4) of determining the amount of each modal excitation output per cycle is performed by:
according to the waveform type and the excitation adding amplitude of excitation adding in the multi-modal excitation attribute configuration table, discretizing according to the cycle number, outputting each cycle according to a constant, wherein the constant is equal to the amplitude of discrete points, and determining the amplitude of the discrete points according to the cycle number in each cycle to be used as the excitation output quantity of the current cycle.
9. The method according to claim 1, wherein the step (1.5) performs processing of the excitation of each mode in each cycle loop during the adaptive dynamic addition of the multi-mode excitation, and the processing of the excitation for each mode comprises the following steps:
(9.1) judging whether an excitation addition finished mark in a multi-mode excitation addition process dynamic execution table corresponding to the current mode is true, if so, performing subsequent step processing on the mode excitation without the need of processing, and ending the period of processing; otherwise, executing step (9.2);
(9.2) judging whether an excitation enabling condition in the multi-mode excitation attribute configuration table is met, if so, setting an excitation addition enabling state flag in the multi-mode excitation addition process dynamic execution table to be a true value, and executing the step (9.3); if the enabling condition is not satisfied, the subsequent steps do not need to be carried out on the modal excitation, and the cycle processing is finished;
(9.3) judging whether the incentive adding mark is a true value according to the content of the dynamic execution table of the multi-modal incentive adding process, and if the incentive adding mark is the true value, executing (9.4); otherwise, calculating the current excitation adding mark value according to the multi-mode excitation adding condition and the excitation change condition criterion table, if the calculated current excitation adding mark value is true, executing (9.4), and if the calculated current excitation adding mark value is false, ending the period processing;
(9.4) judging whether the current excitation in the multi-mode excitation attribute configuration table is allowed to be changed, and if not, executing (9.5); otherwise, judging whether an excitation change enabling mark in the multi-mode excitation adding process dynamic execution table is true, if so, calculating a current excitation change mark value by the multi-mode excitation adding condition and the excitation change condition criterion table, if so, turning to (9.6), and if not, executing (9.5);
(9.5) performing excitation output according to the determined mode excitation output quantity of the current period, judging whether the current period reaches the excitation adding continuous period number, and if so, turning to the step (9.6); otherwise, entering the next period;
(9.6) setting an incentive addition completed flag in the multi-modal incentive addition process dynamic execution table to true.
10. The method of claim 9, wherein the current incentive add/change flag value is calculated by:
adding 1 to the accumulated quantity of the excitation adding/extracting condition filtering in the multi-mode excitation adding process dynamic execution table, sampling the excitation adding/extracting condition indexes to obtain a value, and storing the value into a sampling queue structure for storing the excitation adding/extracting condition indexes according to the time sequence;
judging whether the accumulated amount of the excitation adding/extracting condition filtering in the multi-modal excitation adding process dynamic execution table is equal to the number of the excitation adding/extracting condition index filtering cycles defined in the multi-modal excitation adding condition and excitation extracting condition criterion table: if not, the current excitation adding/changing flag value is false, otherwise, the subsequent steps are executed;
calculating an excitation adding/extracting condition index filtering value of the multi-modal excitation adding process dynamic execution table, and judging whether the calculated excitation adding/extracting condition index filtering value of the multi-modal excitation adding process dynamic execution table is more than or equal to an excitation adding/extracting condition index threshold value of the multi-modal excitation adding condition and the excitation extracting condition criterion table: and if the current excitation adding/changing flag value is not less than 1, the current excitation adding/changing flag value is false, and the accumulated quantity of the excitation adding/changing condition filtering in the multi-mode excitation adding process dynamic execution table is reduced by 1.
11. The method of claim 10, wherein the stimulus add/drop condition indicator sample queue is a first-in-first-out circular queue structure, the number of elements that can be accommodated in the queue is greater than the number of stimulus add/drop condition indicator filter cycles defined in the multi-modal stimulus add condition and stimulus drop condition criteria table, and when the queue is full, the oldest element in the queue is replaced with the newest element.
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