CN113311699B

CN113311699B - Automatic tracking method for high-frequency noise amplitude gain of high-performance advanced observer

Info

Publication number: CN113311699B
Application number: CN202110588232.3A
Authority: CN
Inventors: 李军
Original assignee: Guangdong Power Grid Co Ltd; Electric Power Research Institute of Guangdong Power Grid Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Electric Power Research Institute of Guangdong Power Grid Co Ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2022-06-14
Anticipated expiration: 2041-05-26
Also published as: CN113311699A

Abstract

The invention provides an automatic tracking method and an automatic tracking system for improving high-frequency noise amplitude gain of a high-performance advance observer. According to the invention, the high-frequency noise amplitude gain of the improved high-performance advanced observer is automatically tracked to a preset number of high-frequency noise amplitude gains, and the performance of the improved high-performance advanced observer is controlled in an optimal state.

Description

Automatic tracking method for high-frequency noise amplitude gain of high-performance advanced observer

Technical Field

The invention relates to the technical field of process control of thermal power generating units, in particular to an automatic tracking method and system for improving high-frequency noise amplitude gain of a high-performance advanced observer.

Background

In the field of thermal power unit process control, advance information of process response can be acquired by advanced observation, and the method has important significance for improving process control performance. In 2019, a High Performance Lead Observer (HPLO) was published in the advanced observation mechanism by the "advanced and expectable basic control technology" in the field of industrial process control, "advanced and expectable" the document "in the" automated science and newspapers "in the chinese knowledge network [ www.cnki.net ]. The high performance lead observer may be used alone. However, the look-ahead observation has the problem of noise interference amplification, mainly high frequency noise interference amplification. When the High-frequency noise interference level is High, for example, the High-frequency noise amplitude gain (HFNAG) is High, serious interference may be caused to the output signal of the High-performance advance observer, and even the High-performance advance observer may not work normally. In engineering, the problem of online control of the high-frequency noise amplitude gain of the high-performance advanced observer needs to be solved firstly. To a large extent, the high frequency noise amplitude gain of the high performance lead observer represents the noise disturbance level of the high performance lead observer. In addition, the high performance advanced observer has a relatively complex structure, and engineering improvement is required, that is, an Improved high performance advancing observer (IHPLO) is required.

Disclosure of Invention

In order to solve the above problems, the present invention provides an automatic tracking method and an automatic tracking device for improving the high-frequency noise amplitude gain of a high-performance advanced observer, wherein the performance of the improved high-performance advanced observer is controlled in an optimal state by automatically tracking the high-frequency noise amplitude gain of the improved high-performance advanced observer to a preset number of high-frequency noise amplitude gain settings. The improved high-performance advanced observer is used for advanced observation of feedwater flow process response of a thermal power generating unit.

The first aspect of the invention provides an automatic tracking method for improving high-frequency noise amplitude gain of a high-performance advanced observer, which comprises the following steps:

acquiring parameters of an improved high-performance advanced observer, and establishing a second improved high-performance advanced observer according to the parameters of the improved high-performance advanced observer; acquiring a noise interference signal sent by a noise interference source, and inputting the noise interference signal into a second improved high-performance advanced observer as an input signal of the second improved high-performance advanced observer to obtain an output signal of the second improved high-performance advanced observer;

inputting the noise interference signal and the output signal of the second improved high-performance advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer;

acquiring a preset high-frequency noise amplitude gain, and inputting the preset high-frequency noise amplitude gain and the second improved high-performance advanced observer high-frequency noise amplitude gain into a comparator to obtain a comparison signal;

inputting the comparison signal to an integral control unit to obtain an integral control signal;

acquiring an original filtering time constant of a noise filter, and inputting the original filtering time constant and the integral control signal into a multiplier to obtain a second noise filtering parameter control value;

acquiring a noise filtering original parameter of the improved high-performance advanced observer, and inputting the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value into a first-order inertia filter to obtain a noise parameter control value;

and acquiring an input signal of the improved high-performance advanced observer, and inputting the input signal of the improved high-performance advanced observer and the noise parameter control value into the improved high-performance advanced observer to obtain an output signal of the improved high-performance advanced observer.

Further, the transfer function of the improved high-performance advanced observer is as follows:

where IHPLO(s) is a transfer function for improving the high performance lead observer, K_GCTo improve the compensation gain of a high performance lead observer, K_IPCTo improve the gain of the internal proportional control of the high performance lead observer, NF(s) is the transfer function of the noise filter, T_NFPFor the noise filter parameters of the noise filter, ESWF(s) is the transfer function of the engineered sliding window filter, n_ESWFOrder of an engineered sliding window filter, T_IHPLOTo improve the time constant of the high performance lead observer, s is the laplacian operator.

Further, the transfer function of the second improved high-performance advanced observer is:

wherein IHPLO is the transfer function of the second improved high-performance advanced observer, K_GC:SSecond compensation gain, K, for a second modified high performance lead observer_IPC:SFor a second improved gain of the second internal proportional control of the high performance lead observer, NF: S(s) is the transfer function of the second noise filter, T_NFP:SIs the second noiseA second noise filtering parameter of the acoustic filter, NFPCV (t) is a second noise filtering parameter control value, ESWF is a transfer function of a second engineering sliding window filter, and n(s)_ESWF:SOf a second order, T, of a second engineered sliding window filter_IHPLO:SS is the laplacian operator for the second time constant of the second modified high performance advanced observer.

Further, the transfer function of the comparator is:

wherein S is_C(t) IS the transfer function of the comparator, IS_G(t) IS the given end input signal of the comparator, HFNAGG IS the preset high frequency noise amplitude gain, IS_F(t) is the feedback input signal of the comparator, HFNAG_IHPLO:S(t) high frequency noise amplitude gain, DZ, of a second improved high performance lead observer_CThe dead band of the comparator, t is the time value.

Further, the comparing signal is input to an integral control unit to obtain an integral control signal, which includes:

and acquiring an output signal of automatic tracking-stopping, and inputting the comparison signal, the output signal of automatic tracking-stopping and a constant 1 into an integral control unit to obtain an integral control signal.

Further, the transfer function of the integral control unit is:

wherein S is_IC(t) is the transfer function of the integral control unit, TI is the tracking input of the integral control unit, OTC is the output tracking control value of the integral control unit, AT/S is the output signal of automatic tracking-stopping, S_C(T) is the transfer function of the comparator, T_ICIs the integration time constant of the integration control unit, and t is a time value.

Further, the transfer function of the multiplier is:

NFPCV:S(t)＝S_IC(t)NFPOV；

wherein, NFPCV is the transfer function of the multiplier, S (t)_IC(t) is the transfer function of the integral control unit, NFPOV is the raw filter time constant, and t is the time value.

Further, the inputting the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value into a first-order inertia filter to obtain a noise parameter control value includes:

and acquiring an output signal of automatic tracking-stopping, and inputting the output signal of automatic tracking-stopping, the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value into a first-order inertial filter to obtain a noise parameter control value.

Further, the transfer function of the first order inertial filter is:

wherein FOIF(s) is a transfer function of a first order inertial filter, T_FOIFNFPCV (t) is a time constant of a first-order inertial filter, NFPOV is a tracking input NFPOV of the first-order inertial filter is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stopping, L is a time constant of the first-order inertial filter, NFPCV (t) is a noise filtering parameter control value, GI is a tracking input NFPOV of the first-order inertial filter is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stopping, and L is a tracking control value of the first-order inertial filter^-1For inverse laplace transform, NFPCV: s (t) is the second noise filtering parameter control value, t is the time value, and s is the laplace operator.

Further, the transfer function of the noise interference source is:

wherein NJSS (t) is the transfer function of the noise interference signal source, and rand () isPseudo random numberFunction, output range 0-32768 integer real number,% is remainder, 200 is remainder of 200, output range 0-200 integer real number, 100 is fixed floating point real number, K_FPRFor fixed proportional adjustment of gain, fixed K_FPR＝0.01，K_NJSSORThe adjusted gain is output for the noise interference signal source.

Further, the inputting the noise interference signal and the output signal of the second improved high-performance advanced observer into a high-frequency noise amplitude gain calculating unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer includes:

inputting the noise interference signal to a first high-pass filtering unit to obtain a first high-pass filtering signal; inputting the first high-pass filtering signal to a first absolute value operation unit to obtain a first absolute value signal; inputting the first absolute value signal to a first average value operation unit to obtain a first average value signal;

inputting the output signal of the second improved high-performance advanced observer into a second high-pass filtering unit to obtain a second high-pass filtering signal; inputting the second high-pass filtering signal to a second absolute value operation unit to obtain a second absolute value signal; inputting the second absolute value signal to a second average value operation unit to obtain a second average value signal;

and inputting the first average value signal and the second average value signal to a division operation unit to obtain a high-frequency noise amplitude gain of a second improved high-performance advanced observer.

Further, the transfer function of the high frequency noise amplitude gain calculation unit is:

wherein HFNAG (t) is a transfer function of the high frequency noise amplitude gain calculation unit, L^-1Is lapelInverse Lass transform, MOV B(s) is the transfer function of the second average operation unit, HPF B(s) is the transfer function of the second high-pass filtering unit, OS_HPF:B(t) is the output signal of the second high-pass filtering unit, OS_AVO:B(t) IS the transfer function of the second absolute value arithmetic unit, IS, B and t are the second input signals, MOV, A and s are the transfer functions of the first average arithmetic unit, HPF, A and s are the transfer functions of the first high-pass filter unit, OS_HPF:A(t) is the first high-pass filtered output signal, OS_AVO:A(T) IS the output signal of the first absolute value operation unit, IS (A), (T) IS the first input signal, T_MTIs the average time, T, common to the first and second averaging units_HPFIs a common high-pass filtering time constant of the first high-pass filtering unit and the second high-pass filtering unit, t is a time value, and s is a Laplace operator.

A second aspect of the present invention provides an automatic tracking system for improving a high frequency noise amplitude gain of a high performance advanced observer, comprising:

the second improved high-performance advanced observer establishing and operating module is used for acquiring parameters of the improved high-performance advanced observer and establishing a second improved high-performance advanced observer according to the parameters of the improved high-performance advanced observer; acquiring a noise interference signal sent by a noise interference source, and inputting the noise interference signal into a second improved high-performance advanced observer as an input signal of the second improved high-performance advanced observer to obtain an output signal of the second improved high-performance advanced observer;

the high-frequency noise amplitude gain operation module is used for inputting the noise interference signal and the output signal of the second improved high-performance advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer;

the comparator operation module is used for acquiring a preset high-frequency noise amplitude gain, and inputting the preset high-frequency noise amplitude gain and the second improved high-performance advanced observer high-frequency noise amplitude gain to a comparator to obtain a comparison signal;

the integral control module is used for inputting the comparison signal to an integral control unit to obtain an integral control signal;

the multiplier operation module is used for acquiring an original filtering time constant of the noise filter, and inputting the original filtering time constant and the integral control signal into a multiplier to obtain a second noise filtering parameter control value;

the first-order inertial filter operation module is used for acquiring the noise filtering original parameters of the improved high-performance advanced observer, and inputting the noise filtering original parameters of the improved high-performance advanced observer and the second noise filtering parameter control value into a first-order inertial filter to obtain a noise parameter control value;

and the improved high-performance advanced observer operation module is used for acquiring an input signal of the improved high-performance advanced observer, and inputting the input signal of the improved high-performance advanced observer and the noise parameter control value into the improved high-performance advanced observer to obtain an output signal of the improved high-performance advanced observer.

wherein IHPLO is the transfer function of the second improved high-performance advanced observer, K_GC:SSecond compensation gain, K, for a second modified high performance lead observer_IPC:SFor a second improved gain of the second internal proportional control of the high performance lead observer, NF: S(s) is the transfer function of the second noise filter, T_NFP:SThe second noise filtering parameter of the second noise filter, NFPCV (t) is a second noise filtering parameter control value, ESWF is S(s) is a transfer function of the second engineering sliding window filter, n_ESWF:SOf a second order, T, of a second engineered sliding window filter_IHPLO:SS is the laplacian operator for the second time constant of the second modified high performance advanced observer.

Further, the transfer function of the comparator is:

Further, the integral control module is further configured to:

Further, the transfer function of the integral control unit is:

Further, the transfer function of the multiplier is:

NFPCV:S(t)＝S_IC(t)NFPOV；

Further, the first-order inertia filter operation module is further configured to:

Further, the transfer function of the first order inertial filter is:

wherein FOIF(s) is a transfer function of a first order inertial filter, T_FOIFNFPCV (t) is a time constant of a first-order inertial filter, NFPOV is a tracking input NFPOV of the first-order inertial filter is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stopping, L is a time constant of the first-order inertial filter, NFPCV (t) is a noise filtering parameter control value, GI is a tracking input NFPOV of the first-order inertial filter is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stopping, and L is a tracking control value of the first-order inertial filter^-1For inverse Laplace transform, NFPCV: S (t) is the second noise filtering parameter control value, t is the time value, and s is the Laplace calculationAnd (4) adding the active ingredients.

Further, the transfer function of the noise interference source is:

Further, the high frequency noise amplitude gain operation module is further configured to:

wherein HFNAG (t) is a transfer function of the high frequency noise amplitude gain calculation unit, L^-1For inverse Laplace transform, MOV B(s) is the transfer function of the second average operation unit, HPF B(s) is the transfer function of the second high-pass filtering unit, OS_HPF:B(t) is the output signal of the second high-pass filtering unit, OS_AVO:B(t) IS the transfer function of the second absolute value arithmetic unit, IS, B, and (t) are the second input signals, MOV, A, and s are the transfer functions of the first average arithmetic unit, HPF, A, and s are the transfer functions of the first high-pass filter unit, OS_HPF:A(t) is the first high-pass filtered output signal, OS_AVO:A(t) IS the output signal of the first absolute value computing unit, IS: A (t) IS the first input signal, MOV: A(s) IS the transfer function of the first average computing unit, OS_SO:A(T) IS the transfer function of the first squaring unit, IS (A), (T) IS the first input signal, T_MTThe average time, T, common to the first and second averaging units_HPFIs a common high-pass filtering time constant of the first high-pass filtering unit and the second high-pass filtering unit, t is a time value, and s is a Laplace operator.

Compared with the prior art, the embodiment of the invention has the beneficial effects that:

the invention provides an automatic tracking method and system for improving high-frequency noise amplitude gain of a high-performance advanced observer, wherein the method comprises the following steps: acquiring parameters of an improved high-performance advanced observer, and establishing a second improved high-performance advanced observer according to the parameters of the improved high-performance advanced observer; acquiring a noise interference signal sent by a noise interference source, and inputting the noise interference signal into a second improved high-performance advanced observer as an input signal of the second improved high-performance advanced observer to obtain an output signal of the second improved high-performance advanced observer; inputting the noise interference signal and the output signal of the second improved high-performance advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer; acquiring a preset high-frequency noise amplitude gain, and inputting the preset high-frequency noise amplitude gain and the second improved high-performance advanced observer high-frequency noise amplitude gain into a comparator to obtain a comparison signal; inputting the comparison signal to an integral control unit to obtain an integral control signal; acquiring an original filtering time constant of a noise filter, and inputting the original filtering time constant and the integral control signal into a multiplier to obtain a second noise filtering parameter control value; acquiring a noise filtering original parameter of the improved high-performance advanced observer, and inputting the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value into a first-order inertia filter to obtain a noise parameter control value; and acquiring an input signal of the improved high-performance advanced observer, and inputting the input signal of the improved high-performance advanced observer and the noise parameter control value into the improved high-performance advanced observer to obtain an output signal of the improved high-performance advanced observer. According to the invention, the high-frequency noise amplitude gain of the improved high-performance advanced observer is automatically tracked to a preset number of high-frequency noise amplitude gains, and the performance of the improved high-performance advanced observer is controlled in an optimal state.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments 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 it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a flow chart of a method for improving the automatic tracking of the high frequency noise amplitude gain of a high performance lead observer according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method for improving the automatic tracking of the high frequency noise amplitude gain of the high performance lead observer according to another embodiment of the present invention;

FIG. 3 is a schematic diagram of an automatic tracking method for improving the high frequency noise amplitude gain of a high performance lead observer according to an embodiment of the present invention;

FIG. 4 is a block diagram of an improved high performance lead observer provided in accordance with one embodiment of the present invention;

FIG. 5 is a block diagram of a second improved high performance lead observer according to an embodiment of the present invention;

FIG. 6 is a control schematic of an integral control and feedback process provided by one embodiment of the present invention;

FIG. 7 is a flow chart of feedback process control quantities and auto-tracking quantities provided by one embodiment of the present invention;

FIG. 8 is a schematic diagram of a source of a noise interference signal according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a high frequency noise amplitude gain calculation provided by an embodiment of the present invention;

FIG. 10 is a diagram illustrating experimental results of a simulation of the input signal process of a second improved high performance advanced observer according to an embodiment of the present invention;

FIG. 11 is a graph of the results of a simulation experiment of a second improved high performance advanced observer output signal process according to an embodiment of the present invention;

FIG. 12 is a graph of simulation experiment results of a high frequency noise amplitude gain process of a second improved high performance lead observer according to an embodiment of the present invention;

fig. 13 is a diagram illustrating a simulation experiment result of a process of controlling a second noise filtering parameter according to an embodiment of the present invention;

fig. 14 is a diagram illustrating a simulation experiment result of a process of controlling a noise filtering parameter according to an embodiment of the present invention;

FIG. 15 is a block diagram of an automatic tracking system for improving the high frequency noise amplitude gain of a high performance lead observer according to one embodiment of the present invention;

fig. 16 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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.

It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.

It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.

A first aspect.

Referring to fig. 1-2, an embodiment of the present invention provides an automatic tracking method for improving high frequency noise amplitude gain of a high performance advanced observer, including:

s10, acquiring parameters of the improved high-performance advanced observer, and establishing a second improved high-performance advanced observer according to the parameters of the improved high-performance advanced observer; and acquiring a noise interference signal emitted by a noise interference source, and inputting the noise interference signal into a second improved high-performance advanced observer as an input signal of the second improved high-performance advanced observer to obtain an output signal of the second improved high-performance advanced observer.

Specifically, the transfer function of the second improved high-performance advanced observer is:

The transfer function of the noise interference source is as follows:

And S20, inputting the noise interference signal and the output signal of the second improved high-performance advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer.

In a specific embodiment, the step S20 includes:

s21, inputting the noise interference signal into a first high-pass filtering unit to obtain a first high-pass filtering signal; inputting the first high-pass filtering signal to a first absolute value operation unit to obtain a first absolute value signal; and inputting the first absolute value signal to a first average value operation unit to obtain a first average value signal.

S22, inputting the output signal of the second improved high-performance lead observer into a second high-pass filtering unit to obtain a second high-pass filtering signal; inputting the second high-pass filtering signal to a second absolute value operation unit to obtain a second absolute value signal; and inputting the second absolute value signal to a second average value operation unit to obtain a second average value signal.

And S23, inputting the first average value signal and the second average value signal to a division operation unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer.

Specifically, the transfer function of the high-frequency noise amplitude gain calculation unit is:

wherein HFNAG (t) is a transfer function of the high frequency noise amplitude gain calculation unit, L^-1For inverse Laplace transform, MOV B(s) is the transfer function of the second average operation unit, HPF B(s) is the transfer function of the second high-pass filtering unit, OS_HPF:B(t) is the output signal of the second high-pass filtering unit, OS_AVO:B(t) IS the transfer function of the second absolute value arithmetic unit, IS, B and t are the second input signals, MOV, A and s are the transfer functions of the first average arithmetic unit, HPF, A and s are the transfer functions of the first high-pass filter unit, OS_HPF:A(t) is the first high-pass filtered output signal, OS_AVO:A(T) IS the output signal of the first absolute value operation unit, IS (A), (T) IS the first input signal, T_MTIs the average time, T, common to the first and second averaging units_HPFIs a common high-pass filtering time constant of the first high-pass filtering unit and the second high-pass filtering unit, t is a time value, and s is a Laplace operator.

And S30, acquiring a preset high-frequency noise amplitude gain, and inputting the preset high-frequency noise amplitude gain and the second improved high-performance advanced observer high-frequency noise amplitude gain to a comparator to obtain a comparison signal.

Specifically, the transfer function of the comparator is:

And S40, inputting the comparison signal into an integral control unit to obtain an integral control signal.

In a specific embodiment, the step S40 includes:

Specifically, the transfer function of the integral control unit is:

And S50, acquiring an original filtering time constant of the noise filter, and inputting the original filtering time constant and the integral control signal into a multiplier to obtain a second noise filtering parameter control value.

Specifically, the transfer function of the multiplier is:

NFPCV:S(t)＝S_IC(t)NFPOV；

S60, obtaining a noise filtering original parameter of the improved high-performance advanced observer, and inputting the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value to a first-order inertia filter to obtain a noise parameter control value.

In a specific embodiment, the step S60 includes:

Specifically, the transfer function of the first order inertial filter is:

wherein FOIF(s) is a transfer function of a first order inertial filter, T_FOIFNFPCV (t) is a time constant of a first-order inertial filter, NFPOV is a tracking input NFPOV of the first-order inertial filter, NFPOV is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stop, L is a time constant of the first-order inertial filter, NFPCV (t) is a noise filtering parameter control value of the first-order inertial filter, GI is a tracking input NFPOV of the first-order inertial filter, and OGC is a tracking control value of the first-order inertial filter, and AT/S is an output signal of automatic tracking-stop^-1For inverse laplace transform, NFPCV: s (t) is the second noise filtering parameter control value, t is the time value, and s is the laplace operator.

And S70, acquiring an input signal of the improved high-performance advance observer, and inputting the input signal of the improved high-performance advance observer and the noise parameter control value into the improved high-performance advance observer to obtain an output signal of the improved high-performance advance observer.

The input signal of the improved high-performance advanced observer is the feedwater flow of the thermal power generating unit.

Specifically, the transfer function of the improved high-performance advanced observer is as follows:

The invention provides an automatic tracking method for improving high-frequency noise amplitude gain of a high-performance advance observer, which is characterized in that the performance of the improved high-performance advance observer is controlled in an optimal state by automatically tracking the high-frequency noise amplitude gain of the improved high-performance advance observer to a preset number of high-frequency noise amplitude gains.

Referring to fig. 3, in an embodiment, the present invention provides an automatic tracking method for improving high frequency noise amplitude gain of a high performance advanced observer, including:

automatic tracking/stopping control

Auto tracking/Stop (AT/S), AT/S ═ 0 represents a Stop state, and AT/S ═ 1 represents an Auto tracking state. The control output of [ automatic tracking/stopping ] is directly represented by AT/S and is BOOL variable.

Obtaining parameters for an improved high performance advanced observer

The improved high performance lead observer, i.e., IHPLO, architecture is shown in fig. 4.

Said IHPLO, expressed as

Wherein IHPLO(s) is a transfer function of the IHPLO. K_GCThe Gain of the Gain Compensation (GC) of the IHPLO is in dimensionless units. K_IPCThe gain of the Internal Proportional Control (IPC) of the IHPLO is dimensionless. NF(s) is the transfer function of a Noise Filter (NF). T is a unit of_NFPNoise Filter Parameters (NFP) for the NF, in units of s. ESWF(s) is the transfer function of the Engineering Sliding Window Filter (ESWF). n is_ESWFIs the order of the ESWF in dimensionless units. T is_IHPLOIs the time constant of the IHPLO in s.

The decomposition is performed on equation (1) as follows:

1) the IHPLO input signal IS connected to the reduced number input end of the Subtraction Operation (SO), and IS IS used_IHPLO(t) expressing the IHPLO input signal process in dimensionless units.

2) And connecting the subtraction output end to the input end of the ESWF.

3) And connecting the output end of the ESWF to the input end of the IPC.

4) And connecting the output end of the IPC to the input end for subtracting the SO.

5) And connecting the SO-reduced output end to the input end of the GC.

6) And connecting the output end of the GC to the input end of the NF.

7) And obtaining the IHPLO output signal at the output end of the NF. By OS_IHPLO(t) expressing the IHPLO output signal process in dimensionless units.

Noise Filter Parameter Selection (NFPS), expressed as NFPS

And NFPSO (t) selects an output process for the noise filtering parameters, wherein the unit is s. NFPOV is the Noise Filter Parameters Original Value (NFPOV) in s. NFPCV (t) is a Noise Filter Parameters Control Value (NFPCV) process in units of s. AT/S is [ auto track/stop ]]And the control output is BOOL variable. T is_NFPThe unit is s for the noise filtering parameter.

The decomposition is performed on equation (2) as follows:

1) and connecting the NFPOV to the NFPOV input end of the NFPS.

2) (t) accessing the NFPCV to an NFPCV input of the NFPS.

3) And connecting the AT/S to the NFPS input end of the NFPS.

4) And obtaining the noise filtering parameter selection output process, namely, nfpso (t), at an SO output end (SO) of the NFPS.

5) Setting the T with the NFPSO (T)_NFPI.e. T_NFPNfpso (t). If the AT/S is 0, the T_NFPNFPOV. If the AT/S is 1, the T_NFP＝NFPCV(t)。

Constructing a second improved high-performance advanced observer parallel to the improved high-performance advanced observer:

the second improved high performance advanced observer (IHPLO of second, IHPLO: S) structure is shown in FIG. 5.

S, expressed as

Wherein IHPLO S (S) is the transfer function of the IHPLO S. K is_GC:SThe Gain in dimensionless units for the second Gain compensation of S for the IHPLO。K_IPC:SThe gain of the second Internal proportional control (IPC: S) for the IHPLO: S is dimensionless. NF S (S) is the transfer function of a second Noise filter (NF S). T is_NFP:SThe second Noise filtering parameter (NFP: S) of the NF: S is expressed in S. NFPCV (t) is a process of second Noise filter parameter control value of second, NFPCV: S) in units of dimensionless. ESWF: S (S) is the transfer function of the second engineering sliding window filter (ESWF: S). n is_ESWF:SThe second order of the ESWF S is in dimensionless units. T is_IHPLO:SS is a second time constant of the IHPLO in S.

The decomposition is performed on equation (2) as follows:

1) the IHPLO: S input signal IS connected to the reduced number input end of Subtraction operation (SO: S), and IS IS used_IHPLO:S(t) expressing the IHPLO: S input signal process in dimensionless units.

2) And connecting the second subtraction output end to the input end of the ESWF: S.

3) And connecting the output end of the ESWF: S to the input end of the IPC: S.

4) And connecting the output end of the IPC: S to the input end of the decrement of the SO: S.

5) And connecting the output end of the SO-reduced S to the input end of the GC-S.

6) And connecting the output end of the GC: S to the input end of the NF: S.

7) And obtaining the IHPLO: S output signal at the output end of the NF: S. By OS_IHPLO:S(t) expressing the IHPLO: S output signal process in dimensionless units.

8) (T) inserting said NFPCV: S (T) into the NFPCV: S input of IHPLO: S, i.e. setting said T with said NFPCV: S (T)_NFP:SI.e. T_NFP:S＝NFPCV(t)。

Integral control and feedback process control

The control principle diagram of the integral control and feedback process is shown in fig. 6.

The Comparator (C) is expressed as

Wherein S is_C(t) is a comparative signal process in dimensionless units; IS_GAnd (t) is the input signal process of the given end, and the unit is dimensionless. IS_G(t) ═ HFNAG, which is a preset number of High frequency noise amplitude given (HFNAGG) in dimensionless units; IS_FAnd (t) is the process of inputting signals at the feedback end, and the unit is dimensionless. HFNAG_IHPLO:S(t) is the high frequency noise amplitude gain process of the second improved high performance advanced observer in dimensionless units; DZ_CIs the comparator Dead Zone (DZ) in dimensionless units.

Integral control is expressed as

Where IC(s) is the transfer function of Integral Control (IC). T is_ICIs the integration time constant of the integration control and has the unit of s.

Tracking control of integral control, expressed as

Wherein S is_ICAnd (t) is the integral control signal process, and the unit is dimensionless. TI is the Tracking Input (TI) of the integral control, and has a dimensionless unit. The OTC is an Output Tracking Control (OTC) of the integral control, and is a BOOL variable. AT/S is [ auto track/stop ]]And the control output is BOOL variable. S_CAnd (t) is the comparison signal process, and the unit is dimensionless.

The integral control tracking control steps are as follows:

1) a constant 1 is connected to the TI input of the integration control.

2) And connecting the AT/S to the OTC input end of the integral control.

3) If the AT/S is equal to 0, then the OTC is equal to AT/S is equal to 0, then the integral control signal is S_IC(t) tracking constant 1, i.e. S_IC(t)＝TI＝1。

4) If the AT/S is equal to 1, then the OTC is equal to AT/S is equal to 1, then the integral control signal is S_IC(t) is the process for the comparison signal, namely S_CNegative integral of (t). Said integral control signal being S_IC(t) has an initial memory effect, and after OTC is AT/S is 1, S is_IC(t) will vary on a constant 1 basis.

In the comparator dead zone DZ _C0, the feedback control system is expressed as

Wherein, HFNAGC_IHPLO:S(s) is a transfer function of a High Frequency Noise Amplitude Gain Control (HFNAGC) of the second modified High performance advanced observer. T is_ICIs the integration time constant of the Integral Control (IC) in units of s. HFNAGCP_IHPLO:S(s) approximate Proportional System (PS) for transfer function of High Frequency Noise Amplitude Gain Control Process (HFNAGCP) of the second modified High performance lead observer. BPFG_IHPLO:SThe unit is dimensionless for the Band Pass Filter Gain (BPFG) of the second improved high performance advanced observer. BPFB_IHPLO:SThe bandwidth of the Band Pass Filter Band (BPFB) for the second improved high performance advanced observer is in rad/s. INB_IHPLO:SThe Input noise bandwidth (INFB) for the second modified high performance lead observer is given in rad/s.

Feedback process control quantity and automatic tracking quantity

The flow of the feedback process control quantity and the automatic tracking quantity is shown in fig. 7.

The feedback process control quantity is expressed as

NFPCV:S(t)＝S_IC(t)NFPOV (8)

And NFPCV is the process of controlling the value of the second noise filtering parameter, wherein S (t) is the process of controlling the value of the second noise filtering parameter, and the unit is s. S_ICAnd (t) is the integral control signal process, and the unit is dimensionless. NFPOV is the original value of the noise filter parameter in s. NFPCV, S (t), is the feedback process control quantity and this description is not essential.

The automatic tracking quantity is expressed as

Wherein FOIF(s) is a transfer function of a First Order Inertial Filter (FOIF). T is_FOIFIs the time constant of the first order inertial filter in units of s; nfpcv (t) is the noise filtering parameter control value in s. TI is the tracking input of the first order inertial filter in dimensionless units. NFPOV is the original value of the noise filter parameter in s. The OTC is the tracking control of the first order inertial filter and is a BOOL variable. AT/S is [ auto track/stop ]]And the control output is BOOL variable. L is^-1Is an inverse laplace transform. And NFPCV is the process of controlling the value of the second noise filtering parameter, and the process is S (t). Nfpcv (t) is the auto-trace quantity, and this description is not essential.

The first-order inertial filter tracking control steps are as follows:

1) the original value of the noise filtering parameter, namely NFPOV, is connected to the TI input of the first-order inertial filter, namely TI ═ NFPOV.

2) And connecting the AT/S to an OTC input end of the first-order inertia filter, namely OTC (AT/S).

3) If AT/S is 0, then OTC is 0, then the first order inertial filter output signal process, NFPCV, S (t) tracks the NFPOV, NFPCV, S (t) TI NFPOV.

4) If AT/S is 1, OTC is 1, then the first order inertial filter output signal process, NFPCV (t), is a first order inertial filter tracking of the second noise filter parameter control value process, NFPCV: S (t); the NFPCV (t) has an initial memory function, and after OTC (AT/S) 1, NFPCV (t) will change based on the NFPOV.

Noise interference signal source

Fig. 8 shows a schematic diagram of a Noise Jamming Signal Source (NJSS).

Express FIG. 8 as

Wherein, pjss (t) is the noise interference signal source. rand () isPseudo random numberAnd (4) outputting integer real numbers in a range of 0-32768 in a dimensionless unit. % is the remainder (FR), 200 is the remainder of 200, the output range is 0-200 integer real number, and the unit is dimensionless. 100 is a fixed floating-point real number in dimensionless units. K_FPRFor Fixed proportional adjustment (FPR) gain in dimensionless, Fixed K_FPR＝0.01。K_NJSSORThe gain of the Noise jamming signal source output adjustment (NJSSOR) is output for a Noise jamming signal source and has a dimensionless unit.

Equation (10) is decomposed as follows:

1) obtainingPseudo random numberFunction, expressed as

rand()(11)

Wherein rand () isPseudo random numberAnd (4) outputting integer real numbers in a range of 0-32768 in a dimensionless unit.

2) Will be described inPseudo random numberThe output of the function is connected to the input end of the remainder, and a remainder signal (FRS) is obtained at the output end of the remainder, and is expressed as

FRS(t)＝rand()％200 (12)

Wherein FRS (t) is the remainder signal, the output range is 0-200 integer real number, and the unit is dimensionless. The% 200 is the remainder of the solution 200. rand () is saidPseudo random numberA function.

3) The remainder signal is connected to a reduced number input end of a Subtraction (SO), a fixed floating point real number 100 is connected to a reduced number input end of the Subtraction, and a Subtraction Operation Signal (SOS) expressed as SOS is obtained at an output end of the Subtraction

SOS(t)＝FRS(t)-100 (13)

Wherein sos (t) is the subtraction signal, the output range is ± 100 floating-point real numbers, and the unit is dimensionless. FRS (t) is the remainder signal.

4) The subtraction signal is accessed to the input end of the Fixed proportion regulation, and a Fixed Proportion Regulation Signal (FPRS) is obtained at the output end of the Fixed proportion regulation and expressed as

FPRS(t)＝K_FPRSOS(t) (14)

FPRS (t) is the fixed proportion adjusting signal, the output range is +/-1 floating point real number, and the unit is dimensionless. K_FPRFor the gain adjusted for the fixed ratio, fixed K_FPR0.01. SOS (t) is the subtraction signal.

5) The fixed proportion regulating signal is accessed to the input end of the noise interference signal source output regulation, the noise interference signal source is obtained at the output end of the noise interference signal source output regulation, and the expression is

NJSS(t)＝K_NJSSORFPRS(t) (15)

Wherein, NJSS (t) is the noise interference signal source, and the unit is dimensionless. K_NJSSORAnd outputting the adjusted gain for the noise interference signal source, wherein the unit is dimensionless. FPRS (t) is the fixed-scale adjustment signal.

High frequency noise amplitude gain calculation

Fig. 9 shows a schematic diagram of the calculation of the high-frequency noise amplitude gain.

And obtaining a calculation result of the high-frequency noise amplitude gain of the Input signal B (Input signal of B, IS: B) relative to the Input signal A (Input signal of A, IS: A) through the high-frequency noise amplitude gain calculation, and outputting the high-frequency noise amplitude gain calculation result at the OS output end of the high-frequency noise amplitude gain calculation.

The high frequency noise amplitude gain calculation is expressed as

Wherein, hfnag (t) is the high frequency noise amplitude gain calculation process, and the unit is dimensionless; l is^-1Is an inverse laplace transform. MOV B(s) is the transfer function of the Mean value operation B (MVO B). HPF: B(s) is the transfer function of the High pass filter B (HPF: B). OS_HPF:BAnd (t) is the process of outputting signals by the high-pass filtering B, and the unit is dimensionless. OS_AVO:B(t) is the Absolute value operation of B (AVO: B) output signal process, and the unit is dimensionless. The unit of IS (B), (t) IS the process of an input signal B and IS dimensionless; MOV A(s) is the transfer function of Mean value operation A (MVO: A). HPF: A(s) is the transfer function of the High pass filter A (HPF: A). OS_HPF:AAnd (t) is the process of outputting the signal by the high-pass filtering A, and the unit is dimensionless. OS_AVO:A(t) is the Absolute value operation A (AVO: A) output signal process, and the unit is dimensionless. A (t) IS the process of the input signal A, and the unit IS dimensionless; MOV A(s) is the transfer function of Mean value operation A (MVO: A). OS_SO:A(t) is the process of Square operation A (SO: A) output signal, and the unit is dimensionless. A (t) IS the process of the input signal A, and the unit IS dimensionless; t is_MTThe Mean Time (MT) length of MOV: B(s) and MOV: A(s) in s. T is_HPFIs the high-pass filtering time constant common to HPF: B(s) and HPF: A(s) in units of s.

Equation (16) is decomposed as follows:

1) the input signal B is connected to the input of the high-pass filter B.

2) And connecting the output end of the high-pass filtering B to the input end of the absolute value operation B.

3) And connecting the output end of the absolute value operation B to the input end of the average value operation B.

4) The input signal a is coupled to an input of the high-pass filter a.

5) And connecting the output end of the high-pass filter A to the input end of the absolute value operation A.

6) And connecting the output end of the absolute value operation A to the input end of the average value operation A.

7) And connecting the output end of the average value operation B to the dividend input end of Division Operation (DO). And connecting the output end of the average value operation A to the divisor input end of the Division Operation (DO). And obtaining the high-frequency noise amplitude gain calculation process at the output end of the division operation. The high frequency noise amplitude gain calculation process is expressed in units of dimensionless terms by hfnag (t).

8) The high frequency noise amplitude gain calculation process, hfnag (t), is output at the OS output of the high frequency noise amplitude gain calculation.

Automatic tracking control step for improving high-frequency noise amplitude gain of high-performance advanced observer

With HFNAG_IHPLO(t) expressing the gain process of the high-frequency noise amplitude of the improved high-performance advanced observer, wherein the unit is dimensionless.

Build feedback Process control step

1) Obtaining parameters of the improved high-performance advanced observer, wherein the parameters of the improved high-performance advanced observer comprise: t is_HPLO、K_FGC、K_GC、n_ESWF、NFPOV。

2) Except for T_NFP:SIn addition, setting the parameters of the second improved high-performance advanced observer to be equal to the parameters of the improved high-performance advanced observer, and performing: t is_HPLO:S＝T_HPLO、K_FGC:S＝K_FGC、K_GC:S＝K_GC、n_ESWF:S＝n_ESWF。

3) Applying a noise disturbance excitation to the second improved high performance advanced observer input signal with the noise disturbance signal source.

4) Inputting said second modified high performance advanced observer input signal process, IS_IHPLO:S(t) IS connected to the IS: A input of said high frequency noise amplitude gain calculation. (ii) applying said second modified high performance advanced observer input signal, OS_IHPLO:S(t) IS connected to the IS: B input of said high frequency noise amplitude gain calculation. Obtaining the high frequency noise amplitude gain process (HFNAG) of the second improved high performance advanced observer at the output end of the high frequency noise amplitude gain calculation_IHPLO:S(t)。

5) Accessing the given high-frequency noise amplitude gain (HFNAGG) of the preset number to the input end of the square root operation A, and obtaining a square root operation A signal process (S) at the output end of the square root operation A_SRO:A(t)。

6) The second improved high-performance advanced observer high-frequency noise amplitude gain process is HFNAG_IHPLO:S(t) connecting to the input end of the square root operation B, and obtaining a square root operation B signal process, namely S, at the output end of the square root operation B_SRO:B(t)。

7) The square root operation a signal process is switched in to the positive input of the comparator. And connecting the square root operation B signal process to the negative input end of the comparator. Obtaining a comparison signal at the comparator output, i.e. S_C(t)。

8) The comparison signal process is connected to the input of the integral control. Obtaining an integral control signal, S, at an output of the integral control_IC(t)。

9) Integrating the control signal process, i.e. S_IC(t) is coupled to a first input of said multiplication and said noise filter parameter original value, NFPOV, is coupled to a second input of said multiplication. Obtaining said second noise filter at said multiplier outputThe wave parameter control value process is NFPCV S (t).

10) Inserting the second noise filtering parameter control value process NFPCV: S (T) into the NFPCV: S input end of the second improved high-performance advanced observer for giving the second noise filtering parameter T_NFP:SI.e. T_NFP:S＝NFPCV:S(t)。

11) A second noise filtering parameter control value process, NFPCV: S (t), is coupled to an input of the first order inertial filter. And obtaining the noise filtering parameter control value process namely NFPCV (t) at the output end of the first-order inertia filter.

12) Accessing the noise filtering parameter control value process (NFPCV) (T) to the NFPCV input of the improved high-performance advanced observer for setting the noise filtering parameter (T)_NFPFor the improved high-performance advanced observer high-frequency noise amplitude gain process, namely HFNAG_IHPLO(t) performing automatic tracking control.

Automatic tracking/stop state

1) Setting the stop state, namely AT/S is equal to 0, the feedback process control stops working, and the integral control signal process is S_IC(t) 1, and the second noise filtering parameter control value process, i.e., NFPCV, S (t) S_IC(t) NFPOV ═ NFPOV, and the noise filtering parameter control value process, namely, nfpcv (t) ═ NFPOV. The second noise filtering parameter is T_NFP:SNFPOV. The noise filtering parameter is T_NFP＝NFPOV。

2) Setting an automatic tracking state, namely AT/S is equal to 1, the feedback process control starts to work, and the second noise filtering parameter control value process, namely NFPCV S (t) is equal to S_IC(t) NFPOV, the noise filter parameter control value process, NFPCV (t), is the first order inertial filter tracking output to the NFPCV: S (t). The second noise filtering parameter is T_NFP:SNFPCV: s (t). The noise filtering parameter is T_NFP＝NFPCV(t)。

Feedback process control

In the automatic tracking state, i.e. AT/S is 1, the process of controlling the value of the second noise filtering parameter, i.e. NFP, is controlled by the feedback processCV (T) is a control quantity for controlling the second noise filtering parameter T_NFP:SBy means of, i.e. T_NFP:S(t) and (g) applying the second modified high performance advanced observer high frequency noise amplitude gain process HFNAG_IHPLO:S(t) controlling the high frequency noise amplitude gain setting HFNAGG at the preset number; obtaining the noise filtering parameter control value process (NFPCV) (t) by performing first-order inertial filtering tracking on the second noise filtering parameter control value process (NFPCV: S (t)), and enabling the improved high-performance advanced observer high-frequency noise amplitude gain process (HFNAG)_IHPLO(t) automatically tracking the second improved high performance advanced observer high frequency noise amplitude gain process, HFNAG_IHPLO:S(t) of (d). After the feedback process control enters a steady state, finally, the high-frequency noise amplitude gain process, namely HFNAG, of the improved high-performance advanced observer_IHPLO(t) automatically tracking the predetermined number of high frequency noise amplitude gain settings, HFNAGG.

Due to the instability of noise interference signals, after the feedback process control enters a steady state, the second noise filtering parameter control value process, namely NFPCV: S (t), fluctuates around the Average Value (AV), and the Average value of the NFPCV: S (t) is expressed by the NFPCV: S: AV and is expressed by the unit of S. Because the first-order inertial filtering tracking is carried out on the second noise filtering parameter control value process, namely NFPCV: S (t), to obtain the filtering parameter control value process, namely NFPCV (t), the process is smoother compared with the process of NFPCV: S (t), and NFPCV (t) is smoother.

In a specific embodiment, the parameters of the improved high-performance advanced observer are as follows: t is_HPLO＝150s，K_FGC＝10，K_GC＝11，n_ESWFNFPOV 15s, 8. Accordingly, except for T_NFP:SAnd the second improved high-performance advanced observer parameters are as follows: t is_HPLO:S＝T_HPLO＝150s，K_FGC:S＝K_FGC＝10，K_GC:S＝K_GC＝11，n_ESWF:S＝n_ESWF8; setting K of the noise interference signal source_NJSSOR0.1; setting the average time length of the high-frequency noise amplitude gain calculation, namely T_MT600s, high pass filter time constantNamely T_HPF30 s; setting DZ of the comparator_C0.25. Setting T of the integral control_IC1000 s; setting T of the first order inertial filtering_FOIF500 s; and setting the high-frequency noise amplitude gain of the preset number to be 2.5.

AT a digital discrete measurement interval of 1S, the automatic tracking state is set starting from the process time t equal to 0S, i.e. AT/S equal to 1. The result of the simulation experiment of the input signal process of the second improved high-performance advanced observer is obtained and is shown in fig. 10. The result of the simulation experiment of the second improved high-performance advanced observer output signal process is obtained, and is shown in fig. 11. The result of the simulation experiment of the high-frequency noise amplitude gain process of the second improved high-performance advanced observer is obtained, and is shown in fig. 12. A simulation experiment result of the process of obtaining the second noise filtering parameter control value is shown in fig. 13. The simulation experiment result of the process of obtaining the noise filtering parameter control value is shown in fig. 14.

As shown in fig. 12, at a given process time t in the range of 0 to 8000s, starting from t 0s, the high frequency noise amplitude gain of the second advanced high performance advanced observer gradually converges toward the preset number of high frequency noise amplitude gains given by 2.5, and finally fluctuates around 2.5; as shown in fig. 13, starting from t equal to 0S, the second noise filtering parameter control value process, NFPCV: S (t), gradually decreases from 15S, and finally fluctuates around the average value of the second noise filtering parameter control values, NFPCV: S: AV. Wherein NFPCV: S (t) is NFPCV: S: AV: 6.3S at t: 600S-8000S; fig. 14 shows that the noise filtering parameter control value, NFPCV (t), is smoother than the second noise filtering parameter control value process, NFPCV: s (t).

According to the technical scheme, the embodiment of the invention has the following advantages:

the embodiment of the invention provides an automatic tracking method and device for high-frequency noise amplitude gain of an improved high-performance advanced observerExciting by acoustic interference, and calculating to obtain the high-frequency noise amplitude gain process HFNAG of the second improved high-performance advanced observer by the high-frequency noise amplitude gain_IHPLO:S(t) of (d). Controlling the second noise filtering parameter T by using the second noise filtering parameter control value process NFPCV S (T) as a control quantity through the feedback process control_NFP:SBy means of, i.e. T_NFP:S(t) and (g) applying the second modified high performance advanced observer high frequency noise amplitude gain process HFNAG_IHPLO:S(t) controlling the high frequency noise amplitude gain setting HFNAGG at the preset number; obtaining the noise filtering parameter control value process (NFPCV) (t) by performing first-order inertial filtering tracking on the second noise filtering parameter control value process (NFPCV: S (t)), and enabling the improved high-performance advanced observer high-frequency noise amplitude gain process (HFNAG)_IHPLO(t) automatically tracking the second improved high performance advanced observer high frequency noise amplitude gain process, HFNAG_IHPLO:S(t) of (d). After the feedback process control enters a steady state, finally, the high-frequency noise amplitude gain process, namely HFNAG, of the improved high-performance advanced observer_IHPLO(t) automatically tracking the preset number of high frequency noise amplitude gain (HFNAGG); the obvious characteristics are that: and automatically tracking the high-frequency noise amplitude gain of the improved high-performance advance observer to the preset number of high-frequency noise amplitude gains through automatic tracking control, and controlling the performance of the improved high-performance advance observer in an optimal state.

A second aspect.

Referring to fig. 15, an embodiment of the present invention provides an automatic tracking system for improving high frequency noise amplitude gain of a high performance advanced observer, including:

the second improved high-performance advanced observer establishing and operating module 10 is used for acquiring parameters of the improved high-performance advanced observer and establishing a second improved high-performance advanced observer according to the parameters of the improved high-performance advanced observer; and acquiring a noise interference signal emitted by a noise interference source, and inputting the noise interference signal into a second improved high-performance advanced observer as an input signal of the second improved high-performance advanced observer to obtain an output signal of the second improved high-performance advanced observer.

wherein IHPLO is the transfer function of the second improved high-performance advanced observer, K_GC:SSecond compensation gain, K, for a second modified high performance lead observer_IPC:SFor a second improved gain of the second internal proportional control of the high performance lead observer, NF: S(s) is the transfer function of the second noise filter, T_NFP:SNFPCV (t) is a second noise filtering parameter control value of a second noise filter, ESWF is S(s) is a transfer function of a second engineering sliding window filter, n_ESWF:SOf a second order, T, of a second engineered sliding window filter_IHPLO:SS is the laplacian operator for the second time constant of the second modified high performance advanced observer.

Specifically, the transfer function of the noise interference source is:

wherein NJSS (t) is the transfer function of the noise interference signal source, and rand () isPseudo random numberFunction, output range 0-32768 integer real number,% is remainder of calculation,% 200 is remainder of calculation 200, output range 0-200 integer real number, 100 is fixed floating point real number, K_FPRFor fixed proportional adjustment of gain, fixed K_FPR＝0.01，K_NJSSORThe adjusted gain is output for the noise interference signal source.

And a high-frequency noise amplitude gain operation module 20, configured to input the noise interference signal and the output signal of the second improved high-performance advanced observer to a high-frequency noise amplitude gain calculation unit, so as to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer.

In a specific embodiment, the high frequency noise amplitude gain operation module 20 is further configured to:

wherein HFNAG (t) is a transfer function of the high frequency noise amplitude gain calculation unit, L^-1For inverse Laplace transform, MOV B(s) is the transfer function of the second average operation unit, HPF B(s) is the transfer function of the second high-pass filtering unit, OS_HPF:B(t) is the output signal of the second high-pass filtering unit, OS_AVO:B(t) IS the transfer function of the second absolute value arithmetic unit, IS, B and t are the second input signals, MOV, A and s are the transfer functions of the first average arithmetic unit, HPF, A and s are the transfer functions of the first high-pass filter unit, OS_HPF:A(t) is the first high-pass filtered output signal, OS_AVO:A(T) IS the output signal of the first absolute value operation unit, IS (A), (T) IS the first input signal, T_MTIs a first average valueAverage time, T, common to the arithmetic unit and the second averaging arithmetic unit_HPFIs a common high-pass filtering time constant of the first high-pass filtering unit and the second high-pass filtering unit, t is a time value, and s is a Laplace operator.

And the comparator operation module 30 is configured to obtain a preset high-frequency noise amplitude gain, and input the preset high-frequency noise amplitude gain and the second improved high-performance advanced observer high-frequency noise amplitude gain to a comparator to obtain a comparison signal.

Specifically, the transfer function of the comparator is:

And the integral control module 40 is used for inputting the comparison signal to the integral control unit to obtain an integral control signal.

In a specific embodiment, the integral control module 40 is further configured to:

Specifically, the transfer function of the integral control unit is:

wherein S is_IC(t) is the transfer function of the integral control unit, TI is the tracking input of the integral control unit, OTC is the integral control unitAT/S is an output signal of auto-track-stop, S_C(T) is the transfer function of the comparator, T_ICIs the integration time constant of the integration control unit, and t is a time value.

And the multiplier operation module 50 is configured to obtain an original filtering time constant of the noise filter, and input the original filtering time constant and the integral control signal to a multiplier to obtain a second noise filtering parameter control value.

Specifically, the transfer function of the multiplier is:

NFPCV:S(t)＝S_IC(t)NFPOV；

The first-order inertial filter operation module 60 is configured to acquire a noise filtering original parameter of the improved high-performance advanced observer, and input the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value to the first-order inertial filter to obtain a noise parameter control value.

In a specific embodiment, the first order inertia filter operation module 60 is further configured to:

Specifically, the transfer function of the first order inertial filter is:

wherein FOIF(s) isTransfer function of first order inertial filter, T_FOIFNFPCV (t) is a time constant of a first-order inertial filter, NFPOV is a tracking input NFPOV of the first-order inertial filter is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stopping, L is a time constant of the first-order inertial filter, NFPCV (t) is a noise filtering parameter control value, GI is a tracking input NFPOV of the first-order inertial filter is a noise filtering original parameter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stopping, and L is a tracking control value of the first-order inertial filter^-1For inverse laplace transform, NFPCV: s (t) is the second noise filtering parameter control value, t is the time value, and s is the laplace operator.

And the improved high-performance advance observer operating module 70 is used for acquiring an input signal of the improved high-performance advance observer, and inputting the input signal of the improved high-performance advance observer and the noise parameter control value into the improved high-performance advance observer to obtain an output signal of the improved high-performance advance observer.

The invention provides an automatic tracking system for improving the high-frequency noise amplitude gain of a high-performance advance observer, which automatically tracks the high-frequency noise amplitude gain of the improved high-performance advance observer to a preset number of high-frequency noise amplitude gains, and controls the performance of the improved high-performance advance observer to be in an optimal state.

In a third aspect.

The present invention provides an electronic device, including:

a processor, a memory, and a bus;

the bus is used for connecting the processor and the memory;

the memory is used for storing operation instructions;

the processor is configured to invoke the operation instruction, and the executable instruction causes the processor to perform the operation corresponding to the automatic tracking method for improving the high-frequency noise amplitude gain of the high-performance advanced observer, as shown in the first aspect of the present application.

In an alternative embodiment, there is provided an electronic device, as shown in fig. 16, an electronic device 5000 shown in fig. 16 including: a processor 5001 and a memory 5003. The processor 5001 and the memory 5003 are coupled, such as via a bus 5002. Optionally, the electronic device 5000 may also include a transceiver 5004. It should be noted that the transceiver 5004 is not limited to one in practical application, and the structure of the electronic device 5000 is not limited to the embodiment of the present application.

The processor 5001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 5001 may also be a combination of processors implementing computing functionality, e.g., a combination comprising one or more microprocessors, a combination of DSPs and microprocessors, or the like.

Bus 5002 may include a path that conveys information between the aforementioned components. The bus 5002 may be a PCI bus or EISA bus, etc. The bus 5002 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 16, but this is not intended to represent only one bus or type of bus.

The memory 5003 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 5003 is used for storing application program codes for executing the present solution, and the execution is controlled by the processor 5001. The processor 5001 is configured to execute application program code stored in the memory 5003 to implement the teachings of any of the foregoing method embodiments.

Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like.

A fourth aspect.

The present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements an automatic tracking method for improving high frequency noise amplitude gain of a high performance advanced observer as set forth in the first aspect of the present application.

Yet another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when run on a computer, enables the computer to perform the corresponding content in the aforementioned method embodiments.

Claims

1. An automatic tracking method for improving high-frequency noise amplitude gain of a high-performance advanced observer is characterized by comprising the following steps:

acquiring an input signal of an improved high-performance advanced observer, and inputting the input signal of the improved high-performance advanced observer and the noise parameter control value into the improved high-performance advanced observer to obtain an output signal of the improved high-performance advanced observer; in particular, the amount of the solvent to be used,

the transfer function of the improved high-performance advanced observer is as follows:

where IHPLO(s) is a transfer function for improving the high performance lead observer, K_GCTo improve the compensation gain of the high performance lead observer,K_IPCto improve the gain of the internal proportional control of the high performance lead observer, NF(s) is the transfer function of the noise filter, T_NFPFor the noise filter parameters of the noise filter, ESWF(s) is the transfer function of the engineered sliding window filter, n_ESWFOrder of an engineered sliding window filter, T_IHPLOIn order to improve the time constant of the high-performance advanced observer, s is a Laplace operator;

the transfer function of the second improved high-performance advanced observer is as follows:

wherein IHPLO is the transfer function of the second improved high-performance advanced observer, K_GC:SSecond compensation gain, K, for a second modified high performance lead observer_IPC:SFor a second improved gain of the second internal proportional control of the high performance lead observer, NF: S(s) is the transfer function of the second noise filter, T_NFP:SThe second noise filtering parameter of the second noise filter, NFPCV, S (t) is a second noise filtering parameter control value, ESWF, S(s) is a transfer function of the second engineering sliding window filter, n_ESWF:SOf a second order, T, of a second engineered sliding window filter_IHPLO:SIs a second time constant of a second improved high performance advanced observer, s is a laplacian operator;

the transfer function of the comparator is:

wherein S is_C(t) IS the transfer function of the comparator, IS_G(t) IS the given end input signal of the comparator, HFNAGG IS the preset high frequency noise amplitude gain, IS_F(t) is the feedback input signal of the comparator, HFNAG_IHPLO:S(t) high frequency noise amplitude gain, DZ, of a second improved high performance lead observer_CIs the dead zone of the comparator, t is the time value;

the comparison signal is input to an integral control unit to obtain an integral control signal, and the integral control signal comprises:

acquiring an output signal of automatic tracking-stopping, and inputting the comparison signal, the output signal of automatic tracking-stopping and a constant 1 into an integral control unit to obtain an integral control signal;

the transfer function of the integral control unit is:

wherein S is_IC(t) is the transfer function of the integral control unit, TI is the tracking input of the integral control unit, OTC is the output tracking control value of the integral control unit, AT/S is the output signal of automatic tracking-stopping, S_C(T) is the transfer function of the comparator, T_ICIs the integral time constant of the integral control unit, and t is a time value; the transfer function of the multiplier is:

NFPCV:S(t)＝S_IC(t)NFPOV；

wherein S is_IC(t) is a transfer function of the integral control unit, NFPOV is a noise filtering original parameter, and t is a time value;

the step of inputting the noise filtering original parameter and the second noise filtering parameter control value of the improved high-performance advanced observer into a first-order inertia filter to obtain a noise parameter control value comprises the following steps:

acquiring an output signal of automatic tracking-stopping, and inputting the output signal of automatic tracking-stopping, the noise filtering original parameter of the improved high-performance advanced observer and the second noise filtering parameter control value into a first-order inertial filter to obtain a noise parameter control value;

the transfer function of the first order inertial filter is:

wherein FOIF(s) is a transfer function of a first order inertial filter, T_FOIFNFPCV (t) is a time constant of a first-order inertial filter, NFPCV (t) is a noise filtering parameter control value, GI is a tracking input of the first-order inertial filter, OGC is a tracking control value of the first-order inertial filter, AT/S is an output signal of automatic tracking-stop, L is a tracking control value of the first-order inertial filter, and^-1for inverse laplace transform, NFPCV is (t) and is the second noise filtering parameter control value, t is a time value, and s is a laplace operator;

the transfer function of the noise interference source is as follows:

wherein NJSS (t) is a transfer function of a noise interference signal source, rand () is a pseudo-random number function, the output range is 0-32768 integer real number,% is a remainder, 200 is a remainder of 200, the output range is 0-200 integer real number, 100 is a fixed floating point real number, K is_FPRFor fixed proportional adjustment of gain, fixed K_FPR＝0.01，K_NJSSOROutputting the adjusted gain for the noise interference signal source;

the inputting the noise interference signal and the output signal of the second improved high-performance advanced observer into a high-frequency noise amplitude gain calculation unit to obtain a high-frequency noise amplitude gain of the second improved high-performance advanced observer includes:

inputting the first average value signal and the second average value signal to a division operation unit to obtain a high-frequency noise amplitude gain of a second improved high-performance advanced observer;

the transfer function of the high-frequency noise amplitude gain calculation unit is as follows:

wherein HFNAG (t) is a transfer function of the high frequency noise amplitude gain calculation unit, L^-1For inverse Laplace transform, MVO B(s) is the transfer function of the second average operation unit, HPF B(s) is the transfer function of the second high-pass filtering unit, and OS_HPF:B(t) is the output signal of the second high-pass filtering unit, OS_AVO:B(t) IS the transfer function of the second absolute value arithmetic unit, IS: B (t) IS the second input signal, MVO: A(s) IS the transfer function of the first average arithmetic unit, HPF: A(s) IS the transfer function of the first high-pass filter unit, OS_HPF:A(t) is the first high-pass filtered output signal, OS_AVO:A(T) IS the output signal of the first absolute value operation unit, IS (A), (T) IS the first input signal, T_MTIs the average time, T, common to the first and second averaging units_HPFIs a common high-pass filtering time constant of the first high-pass filtering unit and the second high-pass filtering unit, t is a time value, and s is a Laplace operator.

2. An automatic tracking system for improving high frequency noise amplitude gain of a high performance lead observer, comprising:

the second improved high-performance advanced observer establishing and operating module is used for acquiring parameters of the improved high-performance advanced observer and establishing a second improved high-performance advanced observer according to the parameters of the improved high-performance advanced observer; acquiring a noise interference signal sent by a noise interference source, and inputting the noise interference signal serving as an input signal of a second improved high-performance advanced observer into the second improved high-performance advanced observer to obtain an output signal of the second improved high-performance advanced observer;

the improved high-performance advanced observer operation module is used for acquiring an input signal of the improved high-performance advanced observer, and inputting the input signal of the improved high-performance advanced observer and the noise parameter control value into the improved high-performance advanced observer to obtain an output signal of the improved high-performance advanced observer; in particular, the amount of the solvent to be used,

where IHPLO(s) is a transfer function for improving the high performance lead observer, K_GCTo improve the compensation gain of a high performance lead observer, K_IPCTo improve the gain of the internal proportional control of the high performance lead observer, NF(s) is the transfer function of the noise filter, T_NFPFor the noise filter parameters of the noise filter, ESWF(s) is the transfer function of the engineered sliding window filter, n_ESWFOrder of an engineered sliding window filter, T_IHPLOIn order to improve the time constant of the high-performance advanced observer, s is a Laplace operator;

the transfer function of the comparator is:

the integral control module is further used for acquiring an output signal of automatic tracking-stopping, and inputting the comparison signal, the output signal of automatic tracking-stopping and a constant 1 into an integral control unit to obtain an integral control signal;

the transfer function of the integral control unit is:

wherein S is_IC(t) is the transfer function of the integral control unit, TI is the tracking input of the integral control unit, OTC is the output tracking control value of the integral control unit, AT/S is the output signal of automatic tracking-stopping, S_C(T) is the transfer function of the comparator, T_ICIs the integral time constant of the integral control unit, and t is a time value;

the transfer function of the multiplier is:

NFPCV:S(t)＝S_IC(t)NFPOV；

the first-order inertial filter operation module is further configured to acquire an output signal of automatic tracking-stopping, and input the output signal of automatic tracking-stopping, the noise filtering original parameter of the improved high-performance advanced observer, and the second noise filtering parameter control value to a first-order inertial filter to obtain a noise parameter control value;

the transfer function of the first order inertial filter is:

the transfer function of the noise interference source is as follows:

the high-frequency noise amplitude gain operation module is further configured to input the noise interference signal to a first high-pass filtering unit to obtain a first high-pass filtering signal; inputting the first high-pass filtering signal to a first absolute value operation unit to obtain a first absolute value signal; inputting the first absolute value signal to a first average value operation unit to obtain a first average value signal;