CN114362140B - High-precision time keeping method and device suitable for power distribution network measuring device - Google Patents
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Abstract
The invention discloses a high-precision time keeping method and a device suitable for a power distribution network measuring device, wherein the method comprises the following steps: establishing a mathematical model of a time linear discrete system to realize mathematical modeling on crystal oscillator time data; determining a noise level by utilizing wavelet transformation, and estimating a noise variance of a discrete system; on-line evaluation of variance matrix of measurement noise based on adaptive Kalman filtering of wavelet transformation; establishing a temperature transformation and frequency change curve, and substituting the temperature change curve into a frequency change curve formula to obtain a formula of frequency change along with time; establishing the relation between the crystal oscillator time and the standard time and between the crystal oscillator frequency and the standard frequency, and calculating the frequency values of the local clock and the standard time generated by the crystal oscillator; and fitting a deviation curve of temperature and time to the local clock and the standard clock of the crystal oscillator by using a least square method, wherein the deviation curve is applied to improving the precision of the synchronous clock of the system. The device comprises: a processor and a memory. The device improves the precision of the synchronous clock.
Description
Technical Field
The invention relates to the field of power systems, in particular to a high-precision time keeping method and device suitable for a power distribution network measuring device.
Background
The new energy is mainly renewable energy sources such as water energy, solar energy, wind energy and tidal energy, so the new energy is more beneficial to environmental protection than the traditional energy sources, but the new energy is unstable in power generation, if a large amount of distributed new energy sources are connected into a power distribution network and a large amount of power electronic devices are interposed into the power distribution network, great uncertainty is brought to the operation of the power distribution network, more detection devices are needed in the system with huge and complex energy consumption, the time is used as a reference of all parameters, the standard degree of the system can directly influence the stability and the safety of the whole power distribution network system, and a high-precision clock synchronization device has important significance to the operation of the power distribution network at present.
The algorithms commonly used for error correction at present are: the three methods of the Kalman filtering algorithm, the finite impulse response method and the digital phase-locked loop principle are respectively and briefly described as follows:
the kernel idea of the Kalman filtering algorithm is to calculate curves of observation information and prediction data by using five Kalman equations, so as to realize optimal estimation and optimization of system variables. The Kalman filtering algorithm has the advantages that future states can be predicted without knowing an object model, and the filtering effect is achieved, so that satellite time signals can be predicted.
The finite impulse response filter algorithm corresponds to a digital filter whose output is only current and past, in that the response that the digital filter produces to an input pulse signal will eventually tend to be independent of the past output. Compared with infinite impulse response filter and finite impulse response filter, the feedback circuit is not adopted, so that the circuit structure is simpler and the linearity characteristic is better.
The algorithm of error correction is to correct the hardware circuit by a phase-locked loop circuit, the principle of the phase-locked loop circuit is to generate signals with various frequencies by frequency division or frequency multiplication, and then the clock waveform generated by the phase-locked loop circuit is compared with the waveform of an external clock to be detected, so that the effect of phase synchronization is realized. The phase-locked loop circuit aims to generate an output signal and a signal to be detected to realize the function of waveform automatic tracking, so that the circuit also has a filtering effect, and meanwhile, the circuit can also realize the filtering of jitter in a clock synchronous signal.
Problems of the prior art:
(1) When the Kalman filtering algorithm is used as the algorithm of clock deviation, because the curve drift of time deviation has large uncertainty and has small correlation with the previous data, the Kalman filtering algorithm has non-ideal prediction effect on the variables under the condition of large time deviation;
(2) The phase-locked loop circuit can generate a high-precision clock, and meanwhile, the second signal generated by frequency division of the phase-locked loop circuit is compared with the second signal of the satellite synchronous clock, and the frequency division coefficient in the phase-locked loop circuit is corrected, so that the effect of phase tracking is achieved. However, since the second pulse signal generated by the lock loop circuit is discontinuous, it cannot be determined whether to shift left or right, and thus the time accuracy of the clock in this method cannot be satisfied.
Disclosure of Invention
The invention provides a high-precision time keeping method and a device suitable for a power distribution network measuring device, which can solve the problem that when a satellite signal is out of lock, as a crystal oscillator is influenced by working time and environmental factors in complex and unknown environments, the crystal oscillator oscillates for a long time to generate offset, and a clock offset curve of the crystal oscillator in a time keeping mode is fitted by constructing an accuracy offset model of the crystal oscillator, wherein the curve is favorable for a processor to compensate offset oscillation signals, so that the accuracy of a synchronous clock is improved, and is described in detail below:
in a first aspect, a high precision time keeping method suitable for a power distribution network measurement device, the method comprising the steps of:
establishing a mathematical model of a time linear discrete system to realize mathematical modeling on crystal oscillator time data;
determining a noise level by utilizing wavelet transformation, and estimating a noise variance of a discrete system;
on-line evaluation of variance matrix of measurement noise based on adaptive Kalman filtering of wavelet transformation;
establishing a temperature transformation and frequency change curve, and substituting the temperature change curve into a frequency change curve formula to obtain a formula of frequency change along with time;
establishing the relation between the crystal oscillator time and the standard time and between the crystal oscillator frequency and the standard frequency, and calculating the frequency values of the local clock and the standard time generated by the crystal oscillator; and fitting a deviation curve of temperature and time to the local clock and the standard clock of the crystal oscillator by using a least square method, wherein the deviation curve is applied to improving the precision of the synchronous clock of the system.
The relation between the crystal oscillator time and the standard time, and the relation between the crystal oscillator frequency and the standard frequency are established, and the frequency values of the local clock and the standard time generated by the crystal oscillator are calculated specifically as follows:
the difference calculation formula of the crystal oscillator time and the standard time is set as follows:
wherein f 0 Is the reference frequency;
the influence of temperature offset on frequency is brought into a formula of frequency drift to obtain a formula of the relation of the three:
integrating the formula of the frequency drift yields the formula of the frequency offset as follows:
from this, it can be known that there is a relation between the offset and time, and the polynomial form of the compensation curve is set by using the least square method:
R＝At 3 +Bt 2 +Ct
the values of A, B and C are obtained by solving the inverse matrix of the matrix, and then the solving result is brought into parameters to obtain:
wherein R is 1 、R 2 、R 3 For three different measured values, t 1 、t 2 、t 3 Three different measurement instants.
The values of A, B and C are calculated, and the calculated values are brought into the frequency values of the local clock and the standard time generated by the crystal oscillator.
In a second aspect, a high precision time keeping apparatus for a power distribution network measurement apparatus, the apparatus comprising: a processor and a memory having stored therein program instructions that invoke the program instructions stored in the memory to cause an apparatus to perform the method steps of any of the first aspects.
In a third aspect, a computer readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method steps of any of the first aspects.
The technical scheme provided by the invention has the beneficial effects that:
1. any factors such as different environments, terrains and weather can cause problems in satellite signal receiving, and under the condition that the satellite signal is out of lock, the high-precision crystal oscillator clock offset algorithm designed by the invention can fit a crystal oscillator oscillation offset curve through a machine learning algorithm, so that the clock precision is improved, and the requirements of scientific research, equipment, production and the like on high-precision synchronous clocks are met;
2. the invention solves the problems that the time deviation is accumulated continuously and the precision of the synchronous clock system is reduced due to the fact that the crystal oscillator is used for a long time and has aging problems along with the environmental change;
3. the invention has an effective promoting effect on the design of the high-precision synchronous clock of the power distribution network, lays a synchronous clock foundation for the realization of a high-precision measurement system of the power equipment in a complex environment, and provides technical support for the wide application of the satellite synchronous clock in the power distribution network.
Drawings
FIG. 1 is a flow chart of a high precision time keeping method suitable for use in a power distribution network measurement device;
FIG. 2 is a flow chart of adaptive Kalman filtering based on wavelet transform;
FIG. 3 is a flow chart of least squares fitting based on temperature change effects and crystal oscillator self-offset;
fig. 4 is a schematic structural diagram of a high-precision time keeping device suitable for a power distribution network measurement device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below.
The embodiment of the invention is a dual-mode synchronous clock time keeping algorithm of the power distribution network measuring device based on a GPS satellite signal system and a Beidou satellite signal system, and the synchronous clock device is applied to a plurality of important projects and can improve the stability of the system. Most of the prior schemes adopt a method of combining a satellite clock and a crystal oscillator clock, and the method combines the advantages of the satellite clock and the crystal oscillator clock, thereby improving the clock precision and the accuracy of the system.
The satellite clock and the crystal oscillator clock double-clock method adopted in the embodiment of the invention have the advantages and disadvantages of the two methods, the random error of the crystal oscillator clock is small, but the crystal oscillator clock can cause larger deviation when being used for a long time, the satellite clock has large random difference, but the time deviation is not accumulated, the two methods are combined, and the advantages of the two methods are combined, and the least square crystal oscillator clock offset curve fitting based on wavelet analysis and self-adaptive Kalman filtering is applied to the method, so that the time precision of the satellite signal in the unlocking state can be further improved.
When the embodiment of the invention processes the received satellite signals, noise reduction processing is needed due to noise existing in the signals. In the embodiment of the invention, the details of the signals are statistically analyzed by adopting a wavelet transformation analysis algorithm, so that layering of the signals is realized, the signals are transformed into smooth signals and detail signals, and the layered signals are subjected to self-adaptive Kalman filtering processing, so that denoising of the received satellite signals is realized; the time signal after noise elimination has higher stability and accuracy, and is beneficial to better training the synchronous clock offset model.
The crystal oscillator suffers from time and environmental factors, and the accuracy of the crystal oscillator is reduced, and the crystal oscillator needs to be corrected through the denoised satellite time signals. The embodiment of the invention establishes the relation between the crystal oscillator time and the standard time, and between the crystal oscillator frequency and the standard frequency, establishes the model of the offset and the time, utilizes a least square method to fit the satellite signals after temperature and denoising, and utilizes the deviation curve of the local clock and the standard clock of the crystal oscillator to fit the crystal oscillator clock offset model.
The crystal oscillator clock offset model is applied to a time keeping algorithm of a power distribution network detection device, so that the problems of large randomness, error accumulation and the like of the synchronous clock precision in the traditional method can be solved, the time precision of the system can be improved, the running stability of the power system is further improved, and meanwhile, the algorithm can be widely applied to industries such as traffic, communication and energy sources and the like, and the time precision of the system is improved.
Example 1
The following describes a high-precision time keeping method suitable for a power distribution network measuring device according to the embodiments of the present invention with reference to the accompanying drawings and specific embodiments, and the detailed description is as follows:
referring to fig. 1 to 3, the embodiment of the invention is modeling based on dual-mode satellite signal data received by equipment, firstly, processing received time data by adopting adaptive kalman filtering based on wavelet analysis, increasing the utilization rate of the data, modeling the preprocessed data by adopting a least square method, and realizing the prediction of crystal oscillator clock offset, wherein the method comprises the following specific steps:
step 101: establishing a mathematical model of a time linear discrete system;
Y i ＝θ i,i-1 Y i-1 +L i V i-1 ,i≥1
X i ＝H i Y i +W i (1)
wherein Y is i ∈R n×1 Is a state vector, θ i,i-1 ∈R n×n Is a state transition matrix; x is X i ∈R p×1 Is a measurement vector; h i And L i A measurement matrix and a system noise matrix of corresponding dimensions respectively; v (V) i-1 And W is i For measuring the coefficient of noise. Mathematical modeling is performed on the time data of the crystal oscillator using the above equation (1).
Step 102: determining a noise level using wavelet transform;
the algorithm of wavelet analysis can realize the statistical analysis of the details of the data, realize the layering of the data, transform the signals into smooth signals and detail signals, and estimate the noise variance of a discrete system by using the following formula:
wherein,counting the real-time noise variance of the signal; />Then the variance of the detail signal at the different layers; beta represents the weight of the variance of the detail signal of different layers, where d i For the historical measurement data, a represents a forgetting factor, gradual forgetting of the historical measurement data can be realized by adjusting the value of a, and the method has the advantage of improving the real-time performance of noise statistics, k represents the corresponding layer number of signals, i represents the moment i, and T is the transposition of a mathematical symbol representing matrix.
Step 103: adaptive Kalman filtering based on wavelet transformation;
compared with the common Kalman filtering, the adaptive Kalman filtering has more layers formed by wavelet decomposition, so that the measuring noise variance matrix can be evaluated on line, thereby realizing higher precision, and the specific formula is as follows:
wherein,is a state vector, θ i+1,i For state transition matrix>For the last historical state vector, P k+1/k For P i,i For S i For interference, also called process noise, gamma i+1 A is the difference between the historical state data and the weighted measurement value k For forgetting factor coefficients of different layers, +.>For i+1 layer real-time noise variance statistics, < >>Smooth and detail signals representing a K-layer porous wavelet transform, I i+1 For P i+1/i The prior covariance of the moment i is the intermediate calculation result of filtering, H i+1 For dimension measuring matrix>K is the corresponding layer number, and N can be selected according to the requirement.
Step 104: establishing a temperature transformation and frequency change curve;
let the temperature change curve be:
T＝T 0 +at (4)
wherein T is 0 The reference temperature is the standard room temperature, a is the temperature change rate, and t is the temperature difference.
The formula for the frequency variation is shown below:
f＝bT 2 +cT+d (5)
wherein f is frequency, b, c and d are frequency fitting curves and unknown parameters are set.
Substituting the temperature profile into the formula of the time-dependent frequency change available in equation (5):
f＝b(T 0 +at) 2 +c(T 0 +at)+d (6)
step 105: establishing the relation between the crystal oscillation time and standard time and between the crystal oscillation frequency and standard frequency;
the difference calculation formula of the crystal oscillator time and the standard time is set as follows:
wherein f 0 Is the reference frequency.
The influence of temperature offset on frequency is brought into a formula of frequency drift, and a formula of the relation of the three can be obtained:
integrating the formula of the frequency shift can result in the formula of the frequency shift, as shown in the following formula:
therefore, the offset and time have three-order relation, a deviation formula with the highest order item not lower than the third order item is established by fitting the deviation by using a least square method, the offset can be compensated with higher precision, and a polynomial form of a compensation curve is set by using the least square method:
R＝At 3 +Bt 2 +Ct (10)
the values of A, B and C are obtained by solving the inverse matrix of the matrix, and then the solving result is brought into parameters to obtain:
wherein R is 1 、R 2 、R 3 For three different measured values, t 1 、t 2 、t 3 Three different measurement instants.
The values of A, B and C are calculated, and the calculated values are brought into the formula (10), so that the frequency values of the local clock and the standard time generated by the crystal oscillator can be calculated. According to the method, a deviation curve of temperature and time to a local clock and a standard clock of the crystal oscillator is fitted by using a least square method, and the curve is applied to actual engineering, so that the accuracy of the synchronous clock of the system can be improved.
Example 2
A high precision time keeping apparatus for use in a power distribution network measurement apparatus, see fig. 4, the apparatus comprising: a processor 1 and a memory 2, the memory 2 having stored therein program instructions, the processor 1 calling the program instructions stored in the memory 2 to cause the apparatus to perform the following method steps in embodiment 1:
establishing a mathematical model of a time linear discrete system to realize mathematical modeling on crystal oscillator time data;
determining a noise level by utilizing wavelet transformation, and estimating a noise variance of a discrete system;
on-line evaluation of variance matrix of measurement noise based on adaptive Kalman filtering of wavelet transformation;
establishing a temperature transformation and frequency change curve, and substituting the temperature change curve into a frequency change curve formula to obtain a formula of frequency change along with time;
establishing the relation between the crystal oscillator time and the standard time and between the crystal oscillator frequency and the standard frequency, and calculating the frequency values of the local clock and the standard time generated by the crystal oscillator; and fitting a deviation curve of temperature and time to the local clock and the standard clock of the crystal oscillator by using a least square method, wherein the deviation curve is applied to improving the precision of the synchronous clock of the system.
The relation between the crystal oscillator time and the standard time, and the relation between the crystal oscillator frequency and the standard frequency are established, and the frequency values of the local clock and the standard time generated by the crystal oscillator are calculated specifically as follows:
the difference calculation formula of the crystal oscillator time and the standard time is set as follows:
wherein f 0 Is the reference frequency;
the influence of temperature offset on frequency is brought into a formula of frequency drift to obtain a formula of the relation of the three:
integrating the formula of the frequency drift yields the formula of the frequency offset as follows:
from this, it can be known that there is a relation between the offset and time, and the polynomial form of the compensation curve is set by using the least square method:
R＝At 3 +Bt 2 +Ct
the values of A, B and C are obtained by solving the inverse matrix of the matrix, and then the solving result is brought into parameters to obtain:
wherein R is 1 、R 2 、R 3 For three different measured values, t 1 、t 2 、t 3 Three different measurement instants.
The values of A, B and C are calculated, and the calculated values are brought into the frequency values of the local clock and the standard time generated by the crystal oscillator.
It should be noted that, the device descriptions in the above embodiments correspond to the method descriptions in the embodiments, and the embodiments of the present invention are not described herein in detail.
The execution main bodies of the processor 1 and the memory 2 may be devices with computing functions, such as a computer, a singlechip, a microcontroller, etc., and in particular implementation, the execution main bodies are not limited, and are selected according to the needs in practical application.
Data signals are transmitted between the memory 2 and the processor 1 via the bus 3, which is not described in detail in the embodiment of the present invention.
Example 3
Based on the same inventive concept, the embodiment of the present invention also provides a computer readable storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the method steps in the above embodiment.
The computer readable storage medium includes, but is not limited to, flash memory, hard disk, solid state disk, and the like.
It should be noted that the readable storage medium descriptions in the above embodiments correspond to the method descriptions in the embodiments, and the embodiments of the present invention are not described herein.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the invention, in whole or in part.
The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. The usable medium may be a magnetic medium or a semiconductor medium, or the like.
The embodiment of the invention does not limit the types of other devices except the types of the devices, so long as the devices can complete the functions.
Those skilled in the art will appreciate that the drawings are schematic representations of only one preferred embodiment, and that the above-described embodiment numbers are merely for illustration purposes and do not represent advantages or disadvantages of the embodiments.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (3)
1. A high precision time keeping method for a power distribution network measuring device, the method comprising the steps of:
establishing a mathematical model of a time linear discrete system to realize mathematical modeling on crystal oscillator time data;
determining a noise level by utilizing wavelet transformation, and estimating a noise variance of a discrete system;
on-line evaluation of variance matrix of measurement noise based on adaptive Kalman filtering of wavelet transformation;
establishing a temperature transformation and frequency change curve, and substituting the temperature change curve into a frequency change curve formula to obtain a formula of frequency change along with time;
establishing the relation between the crystal oscillator time and the standard time and between the crystal oscillator frequency and the standard frequency, and calculating the frequency values of the local clock and the standard time generated by the crystal oscillator; fitting a deviation curve of temperature and time to a local clock and a standard clock of the crystal oscillator by using a least square method, wherein the deviation curve is applied to improving the precision of a synchronous clock of a system;
the relation between the crystal oscillator time and the standard time, and between the crystal oscillator frequency and the standard frequency is established, and the frequency value of the local clock and the standard time generated by the crystal oscillator is calculated specifically as follows:
the difference calculation formula of the crystal oscillator time and the standard time is set as follows:
wherein f 0 Is the reference frequency;
the influence of temperature offset on frequency is brought into a formula of frequency drift to obtain a formula of the relation of the three:
integrating the formula of the frequency drift yields the formula of the frequency offset as follows:
from this, it can be known that there is a relation between the offset and time, and the polynomial form of the compensation curve is set by using the least square method:
R＝At 3 +Bt 2 +Ct
the values of A, B and C are obtained by solving the inverse matrix of the matrix, and then the solving result is brought into parameters to obtain:
wherein R is 1 、R 2 、R 3 For three different measured values, t 1 、t 2 、t 3 Three different measurement moments;
the values of A, B and C are calculated, and the calculated values are brought into the frequency values of the local clock and the standard time generated by the crystal oscillator.
2. A high precision time keeping device suitable for a power distribution network measuring device, the device comprising: a processor and a memory, the memory having stored therein program instructions that cause the apparatus to perform the method of claim 1, the processor invoking the program instructions stored in the memory.
3. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of claim 1.
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| 晶振频率偏差补偿的无线传感器网络时间同步算法;王世军;徐朝农;安竹林;徐勇军;牛斗;;小型微型计算机***(第11期);全文 * |
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