ONLINE SYSTEM IDENTIFICATION FOR CONTROLLING A MACHINE
First Claim
1. A control system for a machine, comprising:
- one or more sensors and actuators configured to measure and control operational characteristics of the machine; and
an electronic controller mounted onboard the machine, the electronic controller being configured to receive a sensor signal indicative of an operational parameter of the machine, and to output a control signal to an actuator to control an operational characteristic of the machine, the electronic controller including;
a poles-zeros identification module configured for determining poles of one or more transfer functions as roots of the denominator of the one or more transfer functions and determining zeros of the one or more transfer functions as roots of the numerator of the one or more transfer functions;
an onboard system identification module configured for online, real-time identification of the one or more transfer functions that govern a dynamic relationship between one or more inputs and one or more outputs of at least one plant model, wherein the at least one plant model is representative of behaviors of the machine and simulates a dynamic influence of the operational parameter on a desired output of the machine, the onboard system identification module being further configured to define an order of a numerator of the one or more transfer functions and an order of a denominator of the one or more transfer functions based on a complexity of the dynamic relationship between the one or more inputs and the one or more outputs;
a testing module configured for generating a reference signal and supplying the reference signal as an input to the one or more transfer functions; and
a comparator configured for determining an accuracy of the at least one plant model by determining an error between a measured response of the machine to the reference signal and a predicted response obtained from the one or more transfer functions with the poles and zeros.
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Accused Products
Abstract
A control system for a machine may include an electronic controller configured to receive a sensor signal indicative of an operational parameter of the machine, and to output a control signal to an actuator to control an operational characteristic of the machine. The electronic controller may include a poles-zeros identification module, an onboard system identification module configured for online, real-time identification of one or more transfer functions that govern a dynamic relationship between one or more inputs and one or more outputs of at least one plant model, wherein the at least one plant model is representative of behaviors of the machine and simulates a dynamic influence of the operational parameter, and a comparator that determines the accuracy of a plant model.
43 Citations
20 Claims
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1. A control system for a machine, comprising:
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one or more sensors and actuators configured to measure and control operational characteristics of the machine; and an electronic controller mounted onboard the machine, the electronic controller being configured to receive a sensor signal indicative of an operational parameter of the machine, and to output a control signal to an actuator to control an operational characteristic of the machine, the electronic controller including; a poles-zeros identification module configured for determining poles of one or more transfer functions as roots of the denominator of the one or more transfer functions and determining zeros of the one or more transfer functions as roots of the numerator of the one or more transfer functions; an onboard system identification module configured for online, real-time identification of the one or more transfer functions that govern a dynamic relationship between one or more inputs and one or more outputs of at least one plant model, wherein the at least one plant model is representative of behaviors of the machine and simulates a dynamic influence of the operational parameter on a desired output of the machine, the onboard system identification module being further configured to define an order of a numerator of the one or more transfer functions and an order of a denominator of the one or more transfer functions based on a complexity of the dynamic relationship between the one or more inputs and the one or more outputs; a testing module configured for generating a reference signal and supplying the reference signal as an input to the one or more transfer functions; and a comparator configured for determining an accuracy of the at least one plant model by determining an error between a measured response of the machine to the reference signal and a predicted response obtained from the one or more transfer functions with the poles and zeros. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of controlling a machine, the method comprising:
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measuring an operational parameter characterizing operation of the machine using a sensor; receiving at an onboard electronic controller a sensor signal from the sensor indicative of the operational parameter of the machine; outputting a control signal from the onboard electronic controller to an actuator to control an operational characteristic of the machine; determining poles of one or more transfer functions as roots of the denominator of the one or more transfer functions and determining zeros of the one or more transfer functions as roots of the numerator of the one or more transfer functions; identifying in real-time the one or more transfer functions using a system identification module that is included in the onboard electronic controller, wherein the one or more transfer functions govern a dynamic relationship between one or more inputs and one or more outputs of at least one plant, and wherein the at least one plant model is representative of behaviors of the machine and simulates a dynamic influence of the operational parameter on a desired output of the machine; defining an order of the one or more transfer functions based on a complexity of the dynamic relationship between the one or more inputs and the one or more outputs; generating a reference signal and supplying the reference signal as an input to the one or more transfer functions; and determining an accuracy of the at least one plant model by determining an error between a measured response of the machine to the reference signal and a predicted response calculated from locations of the poles and zeros of the one or more transfer functions. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer-readable medium for use in a machine control system, the computer-readable medium comprising computer-executable instructions for performing a method with at least one processor of an onboard electronic controller of a machine, wherein the method comprises:
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receiving at the onboard electronic controller a sensor signal from a sensor indicative of an operational parameter of the machine; outputting a control signal from the onboard electronic controller to an actuator to control an operational characteristic of the machine; determining poles of one or more transfer functions as roots of the denominator of the factored form of the one or more transfer functions and zeros of the one or more transfer functions as roots of the numerator of the factored form of the one or more transfer functions; identifying in real-time the one or more transfer functions using a system identification module that is included in the onboard electronic controller, wherein the one or more transfer functions govern a dynamic relationship between one or more inputs and one or more outputs of at least one plant model, and wherein the at least one plant model is representative of behaviors of the machine and simulates a dynamic influence of the operational parameter on a desired output of the machine; defining an order of the one or more transfer functions based on a complexity of the dynamic relationship between the one or more inputs and the one or more outputs; generating a reference signal and supplying the reference signal as an input to the one or more transfer functions; and determining an accuracy of the at least one plant model by determining an error between a measured response of the machine to the reference signal and a predicted response calculated from locations of the poles and zeros of the one or more transfer functions. - View Dependent Claims (20)
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Specification