Plant control apparatus

• US 20030120360A1
• Filed: 12/20/2002
• Published: 06/26/2003
• Est. Priority Date: 04/20/2001
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Takahasi, Jun, Yasui, Yuji, Iwaki, Yoshihisa
• Granted Patent: US 7,050,864 B2
• Time in Patent Office: Days
• US Class Current: 700/29
• CPC Class Codes: F02D 2041/1423 Identification of model or controller parameters
• CPC Class Codes: F02D 2041/143 the control loop including a non-linear model or compensator
• CPC Class Codes: F02D 35/0007 using electrical feedback F02D35/0015 takes precedence
• CPC Class Codes: F02D 41/1403 Sliding mode control
• CPC Class Codes: F02D 41/1454 the characteristics being an oxygen content or concentration or the air-fuel ratio
• CPC Class Codes: F02D 41/40 with means for controlling injection timing or duration
• CPC Class Codes: G05B 13/042 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 13/047 the criterion being a time optimal performance criterion
• CPC Class Codes: G05B 13/048 using a predictor

Abstract

A control system for a plant is provided. This control system can control the plant more stably, when the model parameters of the controlled object model which are obtained by modeling the plant, which is a controlled object, are identified and the sliding mode control is performed using the identified model parameters. The model parameter identifier (22) calculates a model parameter vector (θ) by adding an updating vector (d θ) to a reference vector (θ base) of the model parameter. The updating vector (d θ) is corrected by multiplying a past value of at least one element of the updating vector by a predetermined value which is greater than “0” and less than “1”. The model parameter vector (θ) is calculated by adding the corrected updating vector (d θ) to the reference vector (θ base).

Claims

1. A control system for a plant, comprising:

identifying means for identifying a model parameter vector of a controlled object model which is obtained by modeling said plant, based on an input and an output of said plant; and

a sliding mode controller for controlling said plant using the model parameter vector identified by said identifying means;

said identifying means comprising;

identifying error calculating means for calculating an identifying error of the model parameter vector;

updating vector calculating means for calculating an updating vector according to said identifying error; and

updating vector correcting means for correcting said updating vector by multiplying a past value of at least one element of said updating vector by a predetermined value which is greater than 0 and less than 1;

wherein said identifying means calculates the model parameter vector by adding the corrected updating vector to a reference vector of the model parameter vector.

2. A control system according to claim 1, wherein said updating vector correcting means does not multiply one of an element of the updating vector which is relevant to the input of said plant and an element of the updating vector which is irrelevant to the input and the output of said plant, by the predetermined value.

3. A control system according to claim 1 or 2, wherein said updating vector correcting means multiplies at least one element of the reference vector by the predetermined value.

7. A control system according to any one of claims 1 to 6, wherein said identifying means identifies the model parameter vector using a fixed gain algorithm.

8. A control system according to any one of claims 1 to 7, wherein said identifying error calculating means performs a low-pass filtering of the identifying error and outputs the identifying error after the low-pass filtering.

9. A control system according to any one of claims 1 to 8, further comprising predicting means for calculating a predicted value of the output of said plant.

10. A control system according to claim 9, wherein said predicting means calculates the predicted value using the model parameter vector identified by said identifying means.

11. A control system according to any one of claims 1 to 9, A control system according to any one of claims 1 to 8, wherein a control input applied from the sliding mode controller to the plant includes an adaptive law input.

12. A control system according to any one of claims 1 to 11, wherein said plant includes a throttle valve actuating device having a throttle valve of an internal combustion engine and actuating means for actuating said throttle valve, and said sliding mode controller calculates a parameter for determining a control input to be applied to said throttle valve actuating device to make the opening of said throttle valve coincide with a target opening.

13. A control system according to any one of claims 1 to 11, wherein said plant includes an engine system having an internal combustion engine and fuel supply means for supplying fuel to said engine, and said sliding mode controller calculates a parameter for determining a control input to be applied to said engine system to make an air-fuel ratio of an air-fuel mixture to be supplied to said engine coincide with a target air-fuel ratio.

4. A control system for a plant, comprising:

identifying means for identifying a model parameter vector of a controlled object model which is obtained by modeling said plant, based on an input and an output of said plant; and

a sliding mode controller for controlling said plant using the model parameter vector identified by said identifying means;

said identifying means comprising;

identifying error calculating means for calculating an identifying error of the model parameter vector; and

identifying error correcting means for correcting the identifying error in a decreasing direction, if the identifying error is in a predetermined range;

wherein said identifying means calculates the model parameter vector using the identifying error corrected by said identifying error correcting means.

5. A control system according to claim 4, wherein said identifying error correcting means sets the identifying error to “

0”

, if the identifying error is in the predetermined range.

6. A control system according to claim 4 or 5, wherein the predetermined range is set according to an amount of change in a control target value or an amount of change in the output of said plant.

14. A control system for a plant, comprising:

identifying means for identifying at least one model parameter of a controlled object model which is obtained by modeling said plant, based on an input and an output of said plant; and

control means for controlling said plant using the at least one model parameter identified by said identifying means;

said identifying means comprising;

reference model parameter calculating means for calculating at least one reference model parameter according to a state quantity of said plant;

identifying error calculating means for calculating an identifying error of the at least one model parameter; and

updating component calculating means for calculating at least one updating component according to the identifying error,

wherein said identifying means calculates the at least one model parameter by adding the at least one updating component to the at least one reference model parameter.

15. A control system according to claim 14, wherein the state quantity of said plant is a parameter indicative of a change in the dynamic characteristic of said plant.

16. A control system according to claim 15, wherein the parameter indicative of a change in the dynamic characteristic of said plant is an output of said plant.

17. A control system according to claim 15, wherein the parameter indicative of a change in the dynamic characteristic of said plant is a control target value of the output of said plant.

18. A control system according to claim 14 or 15, wherein said control means controls said plant with a sliding mode control.

19. A control system according to claim 18, wherein an control input applied from said control means to said plant includes an adaptive law input.

20. A control system according to any one of claims 14 to 19, wherein said plant includes a throttle valve actuating device having a throttle valve of an internal combustion engine and actuating means for actuating said throttle valve, and said control means calculates a parameter for determining a control input to be applied to said throttle valve actuating device to make the opening of said throttle valve coincide with a target opening.

21. A control system for a plant, including a sliding mode controller for controlling said plant with a sliding mode control,

wherein said sliding mode controller includes:

switching function value calculating means for calculating a value of a switching function defined as a linear function of a deviation between an output of said plant and a control target value;

equivalent control input calculating means for calculating an equivalent control input that contributes to constraining a deviation state quantity which is defined based on the deviation between the output of said plant and the control target value, on a switching straight line on which the value of the switching function becomes zero;

reaching law input calculating means for calculating a reaching law input that contributes to placing the deviation state quantity onto the switching straight line;

control input calculating means for calculating a control input to said plant by adding at least the equivalent control input and the reaching law input;

stability determining means for determining whether or not the sliding mode control is stable; and

stabilizing means for reducing an absolute value of the equivalent control input when the sliding mode control is determined to be unstable.

23. A control system according to claim 21 or 22, wherein said sliding mode controller further includes adaptive law input calculating means for calculating an adaptive law input that contributes to placing the deviation state quantity onto the switching straight line, and said control input calculating means calculates the control input to said plant by adding the equivalent control input, the reaching law input, and the adaptive law input.

26. A control system according to any one of claims 21 to 25, wherein said stability determining means performs the stability determination, based on a value of the switching function.

28. A control system according to any one of claims 21 to 27, wherein said plant includes a throttle valve actuating device having a throttle valve of an internal combustion engine and actuating means for actuating said throttle valve, and said sliding mode controller calculates a parameter for determining the control input to be applied to said throttle valve actuating device to make the opening of said throttle valve coincide with a target opening.

22. A control system for a plant, including a sliding mode controller for controlling said plant with a sliding mode control,

wherein said sliding mode controller includes:

switching function value calculating means for calculating a value of a switching function defined as a linear function of a deviation between an output of said plant and a control target value;

equivalent control input calculating means for calculating an equivalent control input that contributes to constraining a deviation state quantity which is defined based on the deviation between the output of said plant and the control target value, on a switching straight line on which the value of the switching function becomes zero;

reaching law input calculating means for calculating a reaching law input that contributes to placing the deviation state quantity onto the switching straight line;

control input calculating means for calculating a control input to said plant by adding at least the equivalent control input and the reaching law input;

stability determining means for determining whether or not the sliding mode control is stable; and

stabilizing means for changing a control gain that is used in calculating the reaching law input, to a value that makes the sliding mode control more stable, when the sliding mode control is determined to be unstable.

24. A control system for a plant, including a sliding mode controller for controlling said plant with a sliding mode control,

wherein said sliding mode controller includes:

switching function value calculating means for calculating a value of a switching function defined as a linear function of a deviation between an output of said plant and a control target value;

equivalent control input calculating means for calculating an equivalent control input that contributes to constraining a deviation state quantity which is defined based on the deviation between the output of said plant and the control target value, on a switching straight line on which the value of the switching function becomes zero;

reaching law input calculating means for calculating a reaching law input that contributes to placing the deviation state quantity onto the switching straight line;

adaptive law input calculating means for calculating an adaptive law input that contributes to placing the deviation state quantity onto the switching straight line;

control input calculating means for calculating a control input to said plant by adding the equivalent control input, the reaching law input, and the adaptive law input;

stability determining means for determining whether or not the sliding mode control is stable; and

stabilizing means for changing a control gain that is used in calculating the adaptive law input, to a value that makes the sliding mode control more stable, when the sliding mode control is determined to be unstable.

25. A control system for a plant, including a sliding mode controller for controlling said plant with a sliding mode control,

wherein said sliding mode controller includes:

switching function value calculating means for calculating a value of a switching function defined as a linear function of a deviation between an output of said plant and a control target value;

stability determining means for determining whether or not the sliding mode control is stable; and

stabilizing means for changing the switching function so that a response speed of the sliding mode control may decrease, when the sliding mode control is determined to be unstable.

27. A control system for a plant, comprising:

identifying means for identifying at least one model parameter of a controlled object model that is obtained by modeling said plant, based on an input and an output of said plant; and

a sliding mode controller for controlling said plant with a sliding mode control, using the at least one model parameter identified by said identifying means,

wherein said sliding mode controller includes;

stability determining means for determining whether or not the sliding mode control is stable; and

stabilizing means for inhibiting the use of a predetermined model parameter, when the sliding mode control is determined to be unstable.

29. A control system for a plant, comprising:

identifying means for identifying a model parameter vector of a controlled object model which is obtained by modeling said plant, based on an input and an output of said plant; and

a sliding mode controller for controlling said plant using the model parameter vector identified by said identifying means;

said identifying means comprising;

identifying error calculating means for calculating an identifying error of the model parameter vector;

updating vector calculating means for calculating an updating vector according to said identifying error;

updating vector correcting means for correcting the updating vector so that an influence of the past value of the identifying error may decrease;

model parameter vector calculating means for calculating the model parameter vector by adding the corrected updating vector to a reference vector of the model parameter vector; and

limiting means for limiting a value of at least one element of the model parameter vector calculated by said model parameter vector calculating means, within a predetermined limit range.

30. A control system according to claim 29, wherein said updating vector calculating means calculates the updating vector using a fixed gain algorithm.

31. A control system according to claim 29 or 30, wherein said updating vector correcting means corrects the updating vector by multiplying a past value of at least one element of said updating vector by a predetermined value which is greater than 0 and less than 1.

32. A control system according to claim 31, wherein said updating vector correcting means does not multiply one of an element of the updating vector which is relevant to the input of said plant and an element of the updating vector which is irrelevant to the input and the output of said plant, by the predetermined value.

33. A control system according to claim 31 or 32, wherein said updating vector correcting means multiplies at least one element of the reference vector by the predetermined value.

34. A control system according to any one of claims 29 to 32, wherein the reference vector is calculated according to a parameter indicative of a change in a dynamic characteristic of said plant.

36. A control system according to any one of claims 29 to 35, wherein said limiting means limits values of a plurality of elements of the model parameter vector so that the plurality of elements satisfies a predetermined relation.

38. A control system according to any one of claims 29 to 37, wherein said plant includes a throttle valve actuating device having a throttle valve of an internal combustion engine and actuating means for actuating said throttle valve, and said control means calculates a parameter for determining a control input to be applied to said throttle valve actuating device to make the opening of said throttle valve coincide with a target opening.

35. A control system for a plant, comprising:

identifying means for identifying a model parameter vector of a controlled object model which is obtained by modeling said plant, based on an input and an output of said plant; and

a sliding mode controller for controlling said plant using the model parameter vector identified by said identifying means;

said identifying means comprising;

identifying error calculating means for calculating an identifying error of the model parameter vector;

identifying error correcting means for correcting the identifying error in a decreasing direction, if the identifying error is in a predetermined range;

model parameter vector calculating means for calculating the model parameter vector using the identifying error corrected by said identifying error correcting means; and

limiting means for limiting a value of at least one element of the model parameter vector calculated by said model parameter vector calculating means, within a predetermined limit range.

37. A control system according to claim 35, wherein said identifying error correcting means sets the identifying error to “

0”

, if the identifying error is in the predetermined range.

39. A control system for a plant, comprising:

identifying means for identifying a plurality of model parameters of a controlled object model which is obtained by modeling said plant using a predetermined reference value, the plurality of model parameters including a model parameter which is irrelevant to an input and an output of said plant;

control means for controlling said plant using the model parameters identified by said identifying means; and

correcting means for correcting the predetermined reference value according to the model parameter which is irrelevant to an input and an output of said plant.

40. A control system according to claim 39, wherein said correcting means calculates a correction value by statistically processing the model parameter which is irrelevant to an input and an output of said plant, and corrects the predetermined reference value with the correction value.

41. A control system according to claim 39 or 40, wherein said controlled object model is defined by at least one first model parameter which is relevant to an output of said plant, a second model parameter which is relevant to a control input of said plant, and a third model parameter which is irrelevant to the output and the control input of said plant.

42. A control system according to any one of claims 39 to 41, wherein said plant includes a throttle valve actuating device having a throttle valve of an internal combustion engine and actuating means for actuating said throttle valve, and said control means calculates a parameter for determining a control input to be applied to said throttle valve actuating device to make the opening of said throttle valve coincide with a target opening.

43. A control system according to claim 42, wherein said throttle valve actuating device includes a first energizing means for energizing said throttle valve in a closing direction, and a second energizing means for energizing said throttle valve in an opening direction, and maintains said throttle valve at a default opening by means of said first and second energizing means, when said throttle valve is not actuated by said actuating means, said predetermined reference value being set to the default opening.

44. A control system for a throttle valve actuating device including a throttle valve of an internal combustion engine and actuating means for actuating said throttle valve,

said control system including identifying means for identifying at least one model parameter of a controlled object model which is obtained by modeling said throttle valve actuating device;

and

control means for controlling an opening of said throttle valve to a target opening according to the at least one model parameter identified by said identifying means,

said identifying means includes;

identifying error calculating means for calculating an identifying error of the at least one model parameter; and

identifying error correcting means for correcting the identifying error in a decreasing direction, if the identifying error is in a predetermined range,

wherein said identifying means calculates the at least one model parameter using the identifying error corrected by said identifying error correcting means and the predetermined range is set according to a value depending on the opening of said throttle valve or the target opening.

45. A control system according to claim 44, further comprising predicting means for calculating a predicted value of a future throttle valve opening, using the at least one model parameter identified by said identifying means.

46. A control system according to claim 44 or 45, wherein said control means controls said throttle valve actuating device with a sliding mode control, using the at least one model parameter identified by said identifying means.

47. A control system according to claim 46, wherein a control input applied from said control means to said throttle valve actuating device includes an adaptive law input.