Plant control apparatus
First Claim
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.
1 Assignment
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Accused Products
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).
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Citations
47 Claims
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1. A control system for a plant, comprising:
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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. - View Dependent Claims (2, 3, 7, 8, 9, 10, 11, 12, 13)
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4. A control system for a plant, comprising:
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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. - View Dependent Claims (5, 6)
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14. A control system for a plant, comprising:
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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. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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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. - View Dependent Claims (23, 26, 28)
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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.
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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.
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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.
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27. A control system for a plant, comprising:
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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.
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29. A control system for a plant, comprising:
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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. - View Dependent Claims (30, 31, 32, 33, 34, 36, 38)
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35. A control system for a plant, comprising:
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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. - View Dependent Claims (37)
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39. A control system for a plant, comprising:
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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. - View Dependent Claims (40, 41, 42, 43)
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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. - View Dependent Claims (45, 46, 47)
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Specification