Controller for controlling a plant

• US 20040236492A1
• Filed: 03/08/2004
• Published: 11/25/2004
• Est. Priority Date: 03/12/2003
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Yasui, Yuji, Hashimoto, Eiji, Iwaki, Yoshihisa, Shimojo, Kanako
• Granted Patent: US 7,200,484 B2
• Time in Patent Office: Days
• US Class Current: 701/103
• CPC Class Codes: F02D 2041/1409 using at least a proportional, integral or derivative controller
• CPC Class Codes: F02D 2041/1415 using a state feedback or a state space representation
• CPC Class Codes: F02D 2041/1416 Observer
• CPC Class Codes: F02D 2041/1423 Identification of model or controller parameters
• CPC Class Codes: F02D 2041/1431 the system including an input-output delay
• CPC Class Codes: F02D 41/1402 Adaptive control

Abstract

The present invention provides a controller for controlling a modeled plant robustly against disturbance. The controller comprises an estimator and a control unit. The estimator estimates disturbance applied to the plant. The control unit determines an input to the plant so that an output of the plant converges to a desired value. The input to the plant is determined to include a value obtained by multiplying the estimated disturbance by a predetermined gain. Since estimated disturbance is reflected in the input to the plant, control having robustness against disturbance is implemented. The controller may comprise a state predictor. The state predictor predicts the output of the plant based on the estimated disturbance and dead time included in the plant. The control unit determined the input to the plant so that the predicted output converges to a desired value. Since the state predictor allows for the dead time, the accuracy of the control is improved. The estimated disturbance is reflected in the predicted output, an error between the predicted output and an actual output of the plant is removed.

Claims

1. A control system for controlling a modeled plant, comprising a controller configured to;

estimate disturbance applied to the plant; and

determine an input to the plant so that an output of the plant converges to a desired value, the input determined to include a value obtained by multiplying the estimated disturbance by a predetermined gain.

2. The control system of claim 1,

wherein the controller is further configured to use a preview control algorithm to determine the input to the plant.

3. The control system of claim 1,

wherein the controller is further configured to use a response assignment control algorithm to determine the input to the plant.

4. The control system of claim 1,

wherein the controller includes an adaptive disturbance observer that uses a recursive identification algorithm to identify the estimated disturbance.

5. The control system of claim 2,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying by a predetermined gain a desired value for the output of the plant.

6. The control system of claim 2,

wherein the plant is an intake manifold connected to an engine,

wherein the intake manifold is modeled so that an input of the plant is a desired value for an opening angle of a valve that controls an amount of intake air into the intake manifold and an output of the plant is an amount of intake air into the engine.

7. The control system of claim 6,

wherein the valve that controls an amount of intake air into the intake manifold is a throttle valve provided in the intake manifold.

8. The control system of claim 6,

wherein the controller includes a storage device for storing model parameters for the modeled plant,

wherein the controller is further configured to extract a model parameter based on a detected engine rotational speed and a detected opening angle of a throttle valve and to determine the input to the plant based on the extracted model parameter.

9. The control system of claim 6,

wherein the desired value for the output of the plant is a desired intake air amount,

wherein the controller is further configured to set in the desired intake air amount an amount of intake air required to implement a desired engine rotational speed when the engine is idling or when gear change is being carried out,

wherein the controller is further configured to set in the desired intake air amount an amount of intake air required to implement a desired engine torque when the engine is in a normal running condition.

10. The control system of claim 3,

wherein the plant is an engine,

wherein the engine is modeled so that an input of the plant is a desired value for an amount of intake air into the engine and an output of the plant is a rotational speed of the engine.

11. The control system of claim 10,

wherein the controller includes a storage device for storing model parameters for the modeled plant,

wherein the controller is further configured to extract a model parameter based on a detected engine rotational speed and to determine the input to the plant based on the extracted model parameter.

12. The control system of claim 10,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive a vehicle on which the engine is mounted.

13. The control system of claim 10,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive an equipment on a vehicle on which the engine is mounted.

14. The control system of claim 10,

wherein the controller is further configured to perform the response assignment control algorithm when the engine is idling or when gear change is being carried out.

15. A control system for controlling a modeled plant, comprising a controller configured to:

estimate disturbance applied to the plant;

predict an output of the plant based on the estimated disturbance and dead time included in the plant; and

determine an input to the plant so that the predicted output converges to a desired value for the output of the plant.

16. The control system of claim 15,

wherein the controller is further configured to use a preview control algorithm to determine the input to the plant.

17. The control system of claim 15,

wherein the controller is further configured to use a response assignment control algorithm to determine the input to the plant.

18. The control system of claim 15,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying the estimated disturbance by a predetermined gain.

19. The control system of claim 15,

wherein the controller includes an adaptive disturbance observer that uses a recursive identification algorithm to identify the estimated disturbance.

20. The control system of claim 16,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying a desired value for the output of the plant by a predetermined gain.

21. The control system of claim 16,

wherein the plant is an intake manifold connected to an engine,

wherein the intake manifold is modeled so that an input of the plant is a desired value for an opening angle of a valve that controls an amount of intake air into the intake manifold and an output of the plant is an amount of intake air into the engine.

22. The control system of claim 21,

wherein the controller includes a storage device for storing model parameters for the modeled plant,

wherein the controller is further configured to extract a model parameter based on a detected engine rotational speed and a detected opening angle of a throttle valve and to determine the input to the plant based on the extracted model parameter.

23. The control system of claim 17,

wherein the plant is an engine,

wherein the engine is modeled so that an input of the plant is a desired value for an amount of intake air into the engine and an output of the plant is a rotational speed of the engine.

24. The control system of claim 23,

wherein the controller includes a storage device for storing model parameters for the modeled plant,

wherein the controller is further configured to extract a model parameter based on a detected engine rotational speed and to determine the input to the plant based on the extracted model parameter.

25. The control system of claim 23,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive a vehicle on which the engine is mounted.

26. The control system of claim 23,

wherein the controller is further configured to determine the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive an equipment on a vehicle on which the engine is mounted.

27. The control system of claim of claim 23,

wherein the controller is further configured to predict the output of the plant based on an estimated value for a torque that is required to drive a vehicle on which the engine is mounted.

28. The control system of claim of claim 23,

wherein the controller is further configured to predict the output of the plant based on an estimated value for a torque that is required to drive an equipment on a vehicle on which the engine is mounted.

29. A method for controlling a modeled plant, comprising the steps of:

(a) estimating disturbance applied to the plant; and

(b) determining an input to the plant so that an output of the plant converges to a desired value, the input determined to include a value obtained by multiplying the estimated disturbance by a predetermined gain.

30. The method of claim 29,

wherein the step (b) further comprises the step of using a preview control algorithm to determine the input to the plant.

31. The method of claim 29,

wherein the step (b) further comprises the step of using a response assignment control algorithm to determine the input to the plant.

32. The method of claim 29,

wherein the step (a) further comprises the step of using a recursive identification algorithm to identify the estimated disturbance.

33. The method of claim 30,

wherein the step (b) further comprises the step of determining the input to the plant to include a value obtained by multiplying a desired value for the output of the plant by a predetermined gain.

34. The method of claim 30,

wherein the plant is an intake manifold connected to an engine;

wherein the intake manifold is modeled so that an input of the plant is a desired value for an opening angle of a valve that controls an amount of intake air into the intake manifold and an output of the plant is an amount of intake air into the engine.

35. The method of claim 34, wherein the step (b) further comprises the steps of:

determining a model parameter based on a detected engine rotational speed and a detected opening angle of a throttle valve; and

determining the input to the plant based on the model parameter.

36. The method of claim 34, further comprising the steps of:

setting in the desired value for the output of the plant an amount of intake air required to implement a desired engine rotational speed when the engine is idling or when gear change is being carried out; and

setting in the desired value for the output of the plant an amount of intake air required to implement a desired engine torque when the engine is in a normal running condition.

37. The method of claim 31,

wherein the plant is an engine;

wherein the engine is modeled so that an input of the plant is a desired value for an amount of intake air into the engine and an output of the plant is a rotational speed of the engine.

38. The method of claim 37, wherein the step (b) further comprises the steps of:

determining a model parameter based on a detected engine rotational speed; and

determining the input to the plant based on the model parameter.

39. The method of claim 37, wherein the step (b) further comprises the step

determining the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive a vehicle on which the engine is mounted.

40. The method of claim 37, wherein the step (b) further comprises the step of:

determining the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive an equipment on a vehicle on which the engine is mounted.

41. The method of claim 37,

wherein the response assignment control algorithm is performed when the engine is idling or when gear change is being carried out.

42. A method for controlling a modeled plant, comprising the steps of:

(a) estimating disturbance applied to the plant;

(b) predicting an output of the plant based on the estimated disturbance and dead time included in the plant; and

(c) determining an input to the plant so that the predicted output converges to a desired value for the output of the plant.

43. The method of claim 42,

wherein the step (c) further comprises the step of using a preview control algorithm to determine the input to the plant.

44. The method of claim 42,

wherein the step (c) further comprises the step of using a response assignment control algorithm to determine the input to the plant.

45. The method of claim 42,

wherein the step (c) further comprises the step of determining the input to the plant to include a value obtained by multiplying the estimated disturbance by a predetermined gain.

46. The method of claim 42,

wherein the step (a) further comprises the step of using a recursive identification algorithm to identify the estimated disturbance.

47. The method of claim 43,

wherein the step (c) further comprises the step of determining the input to the plant to include a vallue obtained by multiplying a desired value for the output of the plant by a predetermined gain.

48. A controller for controlling a modeled plant, comprising:

(a) means for estimating disturbance applied to the plant; and

(b) means for determining an input to the plant so that an output of the plant converges to a desired value, the input determined to include a value obtained by multiplying the estimated disturbance by a predetermined gain.

49. The controller of claim 48,

wherein the means (b) further comprises means for using a preview control algorithm to determine the input to the plant.

50. The controller of claim 48,

wherein the means (b) further comprises means for using a response assignment control algorithm to determine the input to the plant.

51. The controller of claim 48,

wherein the means (a) further comprises means for using a recursive identification algorithm to identify the estimated disturbance.

52. The controller of claim 49,

wherein the means (b) further comprises means for determining the input to the plant to include a value obtained by multiplying a desired value for the output of the plant by a predetermined gain.

53. The controller of claim 49,

wherein the plant is an intake manifold connected to an engine,

wherein the intake manifold is modeled so that an input of the plant is a desired value for an opening angle of a valve that controls an amount of intake air into the intake manifold and an output of the plant is an amount of intake air into the engine.

54. The controller of claim 53, wherein the means (b) further comprises:

means for determining a model parameter based on a detected engine rotational speed and a detected opening angle of a throttle valve; and

means for determining the input to the plant based on the model parameter.

55. The controller of claim 53, further comprising:

means for setting in the desired value for the output of the plant an amount of intake air required to implement a desired engine rotational speed when the engine is idling or when gear change is being carried out; and

means for setting in the desired value for the output of the plant an amount of intake air required to implement a desired engine torque when the engine is in a normal running condition.

56. The controller of claim 50,

wherein the plant is an engine,

wherein the engine is modeled so that an input of the plant is a desired value for an amount of intake air into the engine and an output of the plant is a rotational speed of the engine.

57. The controller of claim 56, wherein the means (b) further comprises:

means for determining a model parameter based on a detected engine rotational speed; and

means for determining the input to the plant based on the model parameter.

58. The controller of claim 56, wherein the means (b) further comprises:

means for determining the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive a vehicle on which the engine is mounted.

59. The controller of claim 56, wherein the means (b) further comprises:

means for determining the input to the plant to include a value obtained by multiplying by a predetermined gain an estimated value for a torque that is required to drive an equipment on a vehicle on which the engine is mounted.

60. The controller of claim 56, further comprising means for performing the response assignment control algorithm when the engine is idling or when gear change is being carried out.

61. A controller for controlling a modeled plant, comprising:

(a) means for estimating disturbance applied to the plant;

(b) means for predicting an output of the plant based on the estimated disturbance and dead time included in the plant; and

(c) means for determining an input to the plant so that the predicted output converges to a desired value for the output of the plant.

62. The controller of claim 61,

wherein the means (c) further comprises means for using a preview control algorithm to determine the input to the plant.

63. The controller of claim 61,

wherein the means (c) further comprises means for using a response assignment control algorithm to determine the input to the plant.

64. The controller of claim 61,

wherein the means (c) further comprises means for determining the input to the plant to include a value obtained by multiplying the estimated disturbance by a predetermined gain.

65. The controller of claim 61,

wherein the means (a) further comprises means for using a recursive identification algorithm to identify the estimated disturbance.

66. The controller of claim 62,

wherein the means (c) further comprises means for determining the input to the plant to include a value obtained by multiplying a desired value for the output of the plant by a predetermined gain.