CN102323752B - Nonlinear filtering control method and device, loop and system - Google Patents
Nonlinear filtering control method and device, loop and system Download PDFInfo
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Abstract
The invention discloses a nonlinear filtering control method and device, a loop and a system. The method comprises the following steps: carrying out tape symbol square root extraction computation on second-order differential signals of input signals to obtain nonlinear compression signals; carrying out absolute value square root extraction computation on the input signals to obtain nonlinear predistortion signals; and integrating the nonlinear compression signals and the nonlinear predistortion signals to obtain nonlinear filtered output signals. The method, the device, the loop and the system have the following beneficial effects: the robustness of PID (proportion integration differentiation) control can be improved and the system stability is improved while the system response speed is improved, thus improving the regulation quality of the thermal control system.
Description
Technical field
The present invention relates to automatic control technology, relate in particular to a kind of nonlinear filtering control method, device, loop and system.
Background technology
Ratio link (brief note " P "), actual differentiation element (brief note " I ") and integral element (noting " D " by abridging) they are PID(Proportion Integration Differentiation, proportion integration differentiation) three the most basic links in control strategy.Between the response speed in traditional PID adjustment device loop and stability, there is certain contradiction; For ratio link, after the gain that improves ratio link (gain of all frequency ranges improves simultaneously), because the real gain frequently of high band improves, system response time is improved on the one hand, because the real gain frequently of Mid Frequency improves, make again system stability allowance decline but then, be in particular in the aspects such as adjustment process overshoot increases, attenuation rate declines, vibration aggravation.And for actual differentiation element, because real frequency has positive effect, leading empty frequency also to have positive effect to improving system stability allowance for improving system response time, real item frequently always produces again the effect of reverse side to system stability allowance but then on the one hand.
In order to solve, to improve response speed and improve stability contradiction between the two and the control quality of pursuit thermal object, industrial process control field has been introduced robust control theory, and the design of Robust PID Controller has been subject to paying close attention to widely.For the uncertain object of multi-model, prior art has proposed the Design Method for Robust PID Controller method differing from one another.But these methods all exist algorithm complicated, the problem of more difficult realization in DCS.
At thermal technology's control field of one of application of PID control theory, the good PID control strategy of robust property always in occupation of absolute leading position.Due to Power Plant Thermal control object, there is the features such as large inertia, pure time delay, time variation and strong nonlinearity, and because the inside and outside disturbing source of various the unknowns is constantly scurried into object passage, make system be difficult to control.How effectively to overcome the adverse effect of various inside and outside disturbances, thereby improve the regulation quality of thermal technology's control loop, be the problem of paying close attention in the industry always.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides nonlinear filtering control method, device, loop and system, can realize the stability that has also improved system at raising system response time simultaneously.
The invention provides a kind of nonlinear filtering control method, comprising:
The second-order differential signal of input signal is carried out to tape symbol and open radical sign computing, obtain non-linear compressed signal;
Input signal is carried out to absolute value and open radical sign computing, obtain non-linear predistortion signal;
Integrate described non-linear compressed signal and described non-linear predistortion signal, obtain nonlinear filtering wave output signal.
Correspondingly, the invention provides a kind of nonlinear filtering control device, comprising:
Non-linear compression module, carries out tape symbol for the second-order differential signal to input signal and opens radical sign computing, obtains non-linear compressed signal.
Non-linear predistortion module, comprises that absolute value opens radical sign unit, for input signal is carried out to absolute value, opens radical sign computing, obtains non-linear predistortion signal;
The nonlinear filtering output module being connected respectively with described non-linear compression module, described non-linear predistortion module, for integrating described non-linear compressed signal and described non-linear predistortion signal, obtains nonlinear filtering wave output signal.
Correspondingly, the present invention also provides a kind of PID regulating loop with nonlinear filtering control device, comprises PID regulating device and totalizer, also comprises foregoing nonlinear filtering control device.
The same journey deviation input signal of passing by of input end access of the input end of described PID regulating device and described nonlinear filtering control device; The output terminal of described PID regulating device is connected with two input ends of totalizer respectively with the output terminal of described nonlinear filtering control device, and totalizer is output as procedure regulation output signal.
Correspondingly, the present invention also provides a kind of Thermal Control System with nonlinear filtering wave apparatus, comprises thermal technology's control object and subtracter, also comprises the foregoing PID regulating loop with nonlinear filtering control device.
The described PID regulating loop with nonlinear filtering control device is connected between the output terminal of subtracter and the input end of described thermal technology's control object, the output terminal of described thermal technology's control object is connected with the negative input end of described subtracter, the given input signal of the process that is input as of the positive input terminal of described subtracter, described subtracter is output as process deviation input signal.
Implement the present invention, there is following beneficial effect:
Nonlinear filtering control method of the present invention, device, loop and system are the easy and simple automatic control technologys of apparatus structure of a kind of implementation method.Be applied to after PID regulating loop, it can significantly improve the robustness that PID controls, and realizes the stability that also improves system at raising system response time simultaneously, to regulating the vibration occurring in transient process to have stronger inhibition ability.Be applied in control system, can improve the regulation quality of Thermal Control System.
Accompanying drawing explanation
Fig. 1 is the first method flow diagram of a kind of nonlinear filtering control method of the present invention;
Fig. 2 is the second method flow diagram of a kind of nonlinear filtering control method of the present invention;
Fig. 3 is the implementation result figure of a kind of nonlinear filtering control method of the present invention;
Fig. 4 is the schematic diagram of the first embodiment of a kind of nonlinear filtering control device of the present invention;
Fig. 5 is the schematic diagram of the second embodiment of a kind of nonlinear filtering control device of the present invention;
Fig. 6 is a kind of structural representation with the PID regulating loop of nonlinear filtering control device of the present invention;
Fig. 7 is a kind of implementation result figure with the PID regulating loop of nonlinear filtering control device of the present invention;
Fig. 8 is a kind of structural representation with the Thermal Control System of nonlinear filtering wave apparatus of the present invention;
Fig. 9 is a kind of implementation result figure with the Thermal Control System of nonlinear filtering wave apparatus of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with embodiments of the invention and accompanying drawing, the present invention is described in further detail.Obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the first method flow diagram of a kind of nonlinear filtering control method of the present invention, comprising:
S101: the second-order differential signal of input signal is carried out to tape symbol and open radical sign computing, obtain non-linear compressed signal.
S102: input signal is carried out to absolute value and open radical sign computing, obtain non-linear predistortion signal.
S103: integrate described non-linear compressed signal and described non-linear predistortion signal, obtain nonlinear filtering wave output signal.
It should be noted that, step S101 adopts square root characteristic to carry out non-linear compression to the second-order differential signal of input signal.Step S102 enters non-linear pre-service to input signal, by predetermined (square root characteristic) rule, produces distortion.The non-linear compressed signal that step S103 obtains above-mentioned steps S101, the non-linear predistortion signal that step S102 obtains are reformed, its role is to: one, for carrying out nonlinear compensation, for sine wave or cosine wave (CW) function, the distortion after nonlinear compensation is zero in theory; Two, guarantee proportional variation between output signal and input signal; In addition, step S103 also carries out one order inertia filtering, obtains nonlinear filtering wave output signal, to avoid signal infinitely to amplify afterwards in integration.
Between the response speed of tradition thermal technology PID regulator loop and stability, there is certain contradiction, for example: in the response speed that improves loop, can make the stability decreases of system simultaneously, or, after having improved stability, make again the response speed in loop lower.The present invention combines with traditional thermal technology PID regulating loop, can solve well the contradiction between traditional PID adjustment device loop response speed and stability.And method of the present invention is easy, simple in structure.
Fig. 2 is the second method flow diagram of a kind of nonlinear filtering control method of the present invention, and compared to Figure 1, Fig. 2 is the concrete refinement step of Fig. 1.
S201: input signal is differentiated, obtain single order differential signal.
Particularly, the embodiment of the present invention is differentiated to input signal X (s), obtains single order differential signal; The transport function expression formula of this differentiation element is:
.
S202: described single order differential signal is differentiated, obtain second-order differential signal.
Further, described single order differential signal is differentiated, obtain second-order differential signal; The corresponding time-domain function expression formula of this secondary differential element is:
.
Make s=ω j, obtain corresponding frequency-domain function expression formula and be:
.
Without loss of generality, the input signal of supposing loop is that amplitude is A, and angular frequency is
sine wave, input signal is:
, the corresponding transient function expression formula of above-mentioned secondary differential element is:
S203: described second-order differential signal is carried out to tape symbol and open radical sign computing, obtain non-linear compressed signal.
The rule that tape symbol is opened radical sign computing can be as described below:
So, the tape symbol of the second-order differential value of above-mentioned input signal is opened the calculating process of radical sign and is:
S204: input signal is carried out to absolute value and open radical sign computing, obtain non-linear predistortion signal.
The rule that absolute value is opened radical sign computing can be as described below:
S205: by described non-linear compressed signal and described non-linear predistortion signal multiplication, obtain non-linear renormalizing signal.
By the non-linear compressed signal of described second-order differential signal and described non-linear predistortion signal multiplication, obtain non-linear renormalizing signal, obtain corresponding transient function expression formula and be:
The sine function that is " A " by amplitude in above-mentioned transient function expression formula is removed, and obtains corresponding frequency-domain function expression formula and is:
.
S206: described non-linear renormalizing signal is carried out to one order inertia filtering, obtain nonlinear filtering wave output signal.
Because first order inertial loop frequency-domain function is:
, further, by described non-linear renormalizing signal, through first order inertial loop computing, acquisition nonlinear filtering wave output signal, obtains corresponding frequency-domain function expression formula and is:
In above formula, real number item is:
, in above formula, imaginary term are:
.
Fig. 3 be a kind of nonlinear filtering control method of the present invention implementation result figure (Ta=Td wherein, Ka=1,
).
Below in conjunction with Fig. 3, further illustrate advantage of the present invention.From Fig. 3, can learn, the amplitude versus frequency characte of real number item correspondence has typical negative sense band-pass filtering property.Amplitude versus frequency characte corresponding to imaginary term has typical high-pass filtering characteristic.This filtering characteristic is advantage of the present invention place.The present invention, by making the peak value of real number item appear at the Mid Frequency scope of system response, on the one hand, can reduce the real amplitude frequently of PID controller Mid Frequency output greatly, means the stability allowance that has improved by a relatively large margin system; On the other hand, leading empty item frequently also can improve the empty amplitude frequently of PID controller medium-high frequency section output greatly.Improve greatly the empty amplitude frequently of PID controller Mid Frequency output, also mean that the stability allowance of system improves by a relatively large margin.Improve greatly the empty amplitude frequently of PID controller high band output, also mean the response speed that has improved greatly PID regulator loop.In sum, the present invention can solve the response speed of PID regulator loop and the contradiction between stability well.
Fig. 4 is the schematic diagram of the first embodiment of a kind of nonlinear filtering control device of the present invention, comprising:
Non-linear compression module, carries out tape symbol for the second-order differential signal to input signal and opens radical sign computing, obtains non-linear compressed signal;
Non-linear predistortion module, comprises that absolute value opens radical sign unit, for input signal is carried out to absolute value, opens radical sign computing, obtains non-linear predistortion signal;
The nonlinear filtering output module being connected respectively with described non-linear compression module, described non-linear predistortion module, for integrating described non-linear compressed signal and described non-linear predistortion signal, obtains nonlinear filtering wave output signal.
It should be noted that identical with method of the working method of described non-linear compression module, described non-linear predistortion module, described nonlinear filtering output module.
Fig. 5 is the schematic diagram of the second embodiment of a kind of nonlinear filtering control device of the present invention.
As shown in Figure 5, described non-linear compression module specifically comprises:
The first unit A1 that differentiates, for input signal is differentiated, obtains single order differential signal;
The second unit A2 that differentiates that differentiates with described first that unit A1 is connected, for described single order differential signal is differentiated, obtains second-order differential signal;
Open radical sign arithmetic element A3 with the tape symbol that described the second differentiation element A2 is connected, for described second-order differential signal is carried out to tape symbol, open radical sign computing, obtain non-linear compressed signal.
As shown in Figure 5, described non-line predistortion module specifically comprises:
Absolute value is opened radical sign arithmetic element B, for input signal is carried out to absolute value, opens radical sign computing, obtains non-line pre-distorted signals.
As shown in Figure 5, described nonlinear filtering output module specifically comprises:
Multiplier arithmetic element C1, for by the non-linear compressed signal of described second-order differential signal and described non-linear predistortion signal multiplication, obtains non-linear renormalizing signal;
The one order inertia arithmetic element C2 being connected with described multiplier arithmetic element C1, for described non-linear renormalizing signal is carried out to one order inertia filtering, obtains nonlinear filtering wave output signal.
It should be noted that nonlinear filtering control device as shown in Figure 5, identical with method of its working method.
Fig. 6 is a kind of structural representation with the PID regulating loop of nonlinear filtering control device of the present invention, comprises PID regulating device and totalizer, also comprises foregoing nonlinear filtering control device.
The same journey deviation input signal of passing by of input end access of the input end of described PID regulating device and described nonlinear filtering control device; The output terminal of described PID regulating device is connected with two input ends of totalizer respectively with the output terminal of described nonlinear filtering control device, and totalizer is output as procedure regulation output signal.
Fig. 7 is a kind of implementation result figure with the PID regulating loop of nonlinear filtering control device of the present invention, it is example that Fig. 7 be take the simulation analysis of step response, in conjunction with existing PI regulation technology and existing PID regulation technology, compare, as can be seen from the figure, apply the obtained regulating effect of the present invention good, with classic method, compare and there is larger stability margin, allow PID to be transferred to higher ratio and the differential gain.
Fig. 8 is a kind of structural representation with the Thermal Control System of nonlinear filtering wave apparatus of the present invention, comprises thermal technology's control object and subtracter, also comprises the foregoing PID regulating loop with nonlinear filtering control device.
The described PID regulating loop with nonlinear filtering control device is connected between the output terminal of subtracter and the input end of described thermal technology's control object, the output terminal of described thermal technology's control object is connected with the negative input end of described subtracter, the given input signal of the process that is input as of the positive input terminal of described subtracter, described subtracter is output as process deviation input signal.Described subtracter, described in there is the PID regulating loop of nonlinear filtering control device, described thermal technology's control object, three forms closed-loop control system.
Fig. 9 is a kind of implementation result figure with the Thermal Control System of nonlinear filtering wave apparatus of the present invention.In the middle of concrete enforcement, the present invention can be applicable in Thermal Control System in Thermal Power Plant, for example, be applied among the dum boiler overheating steam temperature regulating system optimization of certain 660MW unit.Before and after optimizing, contrast as shown in Figure 9.Can find out from the graph, before optimization, though steam temperature trend is more level and smooth, but steam temperature variable quantity is larger, one of them reason is that PID regulating loop response speed is lower, once attempt having improved PID regulating loop response speed, but the stability of regulating loop significantly degenerates.After having adopted nonlinear filtering node optimization in this paper, when improving by a relatively large margin PID regulating loop response speed, there is again higher stability, remarkable to suppressing steam temperature variation effect.Analysis by Fig. 9 contrasts, and further illustrates superiority of the present invention.
The nonlinear filtering control method that the embodiment of the present invention provides, device, loop and system, the real number item in its output and empty item frequently have the external appearance characteristic of frequency characteristic.While being applied to Thermal Control System, in conjunction with traditional PID control strategy, make real number item wherein can reduce by a relatively large margin the real amplitude frequently of intermediate frequency range internal adjuster output, strengthen the leading empty amplitude frequently of high intermediate frequency range internal adjuster output by a relatively large margin, be conducive to improve system stability allowance and response speed, improve the regulation quality of thermal technology's control loop.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential hardware platform by software and realize, and can certainly all by hardware, implement.Understanding based on such, what technical scheme of the present invention contributed to background technology can embody with the form of software product in whole or in part, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be personal computer, server, or the network equipment etc.) carry out the method described in some part of each embodiment of the present invention or embodiment.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any modification of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in claim protection domain of the present invention.
Claims (8)
1. a nonlinear filtering control method, is characterized in that, comprising:
The second-order differential signal of the input signal of PID regulator is carried out to tape symbol and open radical sign computing, obtain non-linear compressed signal;
The input signal of PID regulator is carried out to absolute value and open radical sign computing, obtain non-linear predistortion signal; The input signal of described PID regulator comprises the Steam Temperature for Boiler temperature before optimization;
By described non-linear compressed signal and described non-linear predistortion signal multiplication, obtain non-linear renormalizing signal;
Described non-linear renormalizing signal is carried out to digital filter, obtain nonlinear filtering wave output signal, by this signal compensation, in the output signal of described PID regulator, the output signal of described PID regulator comprises the Steam Temperature for Boiler temperature after optimization.
2. nonlinear filtering control method according to claim 1, is characterized in that, the second-order differential signal of the input signal of PID regulator is carried out to tape symbol and open radical sign computing, and the step of obtaining non-linear compressed signal comprises:
Input signal to PID regulator is differentiated, and obtains single order differential signal;
Described single order differential signal is differentiated, obtain second-order differential signal;
Described second-order differential signal is carried out to tape symbol and open radical sign computing, obtain non-linear compressed signal.
3. nonlinear filtering control method according to claim 1 and 2, is characterized in that, described non-linear renormalizing signal is carried out to digital filter, and the step that obtains nonlinear filtering wave output signal comprises:
Described non-linear renormalizing signal, through first order inertial loop computing, is obtained to nonlinear filtering wave output signal.
4. a nonlinear filtering control device, is characterized in that, comprising:
Non-linear compression module, carries out tape symbol for the second-order differential signal to the input signal of PID regulator and opens radical sign computing, obtains non-linear compressed signal;
Non-linear predistortion module, comprises that absolute value opens radical sign unit, for the input signal of PID regulator is carried out to absolute value, opens radical sign computing, obtains non-linear predistortion signal; The input signal of described PID regulator comprises the Steam Temperature for Boiler temperature before optimization;
The nonlinear filtering output module being connected respectively with described non-linear compression module, described non-linear predistortion module, for integrating described non-linear compressed signal and described non-linear predistortion signal, obtains nonlinear filtering wave output signal; Wherein, described nonlinear filtering output module specifically comprises, multiplier arithmetic element, for by the non-linear compressed signal of described second-order differential signal and described non-linear predistortion signal multiplication, is obtained non-linear renormalizing signal; The inertia arithmetic element being connected with described multiplier arithmetic element, for described non-linear renormalizing signal is carried out to digital filter, obtain nonlinear filtering wave output signal, by this signal compensation, in the output signal of described PID regulator, the output signal of described PID regulator comprises the Steam Temperature for Boiler temperature after optimization.
5. nonlinear filtering control device according to claim 4, is characterized in that, described non-linear compression module specifically comprises:
First unit of differentiating, for the input signal of PID regulator is differentiated, obtains single order differential signal;
Second unit of differentiating of differentiating with described first that unit is connected, for described single order differential signal is differentiated, obtains second-order differential signal;
Open radical sign arithmetic element with described second tape symbol that unit is connected of differentiating, for described second-order differential signal is carried out to tape symbol, open radical sign computing, obtain non-linear compressed signal.
6. nonlinear filtering control device according to claim 4, is characterized in that, described inertia arithmetic element specifically comprises:
One order inertia arithmetic element, for by described non-linear renormalizing signal through first order inertial loop computing, obtain nonlinear filtering wave output signal.
7. a Steam Temperature for Boiler temperature PID regulating loop with nonlinear filtering control device, comprises PID regulating device and totalizer, it is characterized in that, also comprises:
Nonlinear filtering control device as described in claim 4～6 any one;
The input end of the input end of described PID regulating device and described nonlinear filtering control device accesses the process deviation input signal of same road Steam Temperature for Boiler temperature;
The output terminal of described PID regulating device is connected with two input ends of totalizer respectively with the output terminal of described nonlinear filtering control device, and totalizer is output as the procedure regulation output signal of Steam Temperature for Boiler temperature.
8. a Thermal Control System with nonlinear filtering control device, comprises thermal technology's control object and subtracter, it is characterized in that, also comprises:
The Steam Temperature for Boiler temperature PID regulating loop with nonlinear filtering control device as claimed in claim 7;
The described Steam Temperature for Boiler temperature PID regulating loop with nonlinear filtering control device is connected between the output terminal of subtracter and the input end of described thermal technology's control object, the output terminal of described thermal technology's control object is connected with the negative input end of described subtracter, the given input signal of the process that is input as of the positive input terminal of described subtracter, described subtracter is output as process deviation input signal.
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Address after: 510080 Dongfeng East Road, Dongfeng, Guangdong, Guangzhou, Zhejiang Province, No. 8 Patentee after: Electric Power Research Institute of Guangdong Power Grid Co.,Ltd. Address before: 510080 Dongfeng East Road, Dongfeng, Guangdong, Guangzhou, Zhejiang Province, No. 8 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF GUANGDONG POWER GRID Corp. |