CONTROL SYSTEM HAVING VARIABLE GAIN FEED FORWARD (VGFF) CONTROL

• US 20180157221A1
• Filed: 12/01/2016
• Published: 06/07/2018
• Est. Priority Date: 12/01/2016
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Anderson, Michael D.
• Granted Patent: US 10,545,464 B2
• Time in Patent Office: Days
• CPC Class Codes: G01M 17/00 Testing of vehicles testing fluid tightness G01M3/00; testing elastic properties of bodies or chassis, e.g. torsion-testing, G01M5/00; testing alignment of vehicle headlight devices G01M11/06; testing of engines G01M15/00
• CPC Class Codes: G05B 13/024 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 2219/37333 Position of control valve and position of controlled actuator
• CPC Class Codes: G05B 2219/41012 Adjust feedforward gain

Abstract

A system for controlling a plurality of actuators is disclosed. The system includes at least one device for operating the plurality of actuators, at least one processor in communication with the device, and a memory coupled the processor. The memory stores data comprising program code that, when executed by the at least one processor, causes the system to receive as input a profile number indicating a specific test being performed by the system and a profile row indicating a load exerted by the plurality of actuators. The system is further caused to select a predetermined gain output based on the profile number and the profile row from a gain array. The gain array is a matrix containing a plurality of gain values, and the predetermined gain output is selected based on the profile number and the profile row. The system is further caused to determine a control value.

Claims

1. A system (100) for controlling a plurality of actuators (122), the system (100) comprising:

at least one device (120) for operating the plurality of actuators (122);

at least one processor in communication with the at least one device (120); and

a memory coupled to the at least one processor, the memory storing data comprising program code that, when executed by the at least one processor, causes the system (100) to;

receive as input a profile number (164) indicating a specific test being performed by the system (100) and a profile row (166) indicating a load exerted by the plurality of actuators;

select a predetermined gain output (170) based on the profile number (164) and the profile row (166) from a gain array (168), wherein the gain array (168) is a matrix containing a plurality of gain values (566), and wherein the predetermined gain output (170) is selected based on the profile number (164) and the profile row (166); and

determine a control value (118) based in part by the predetermined gain output (170), wherein the control value (118) instructs the at least one device (120) to move the plurality of actuators (122) to a required load.

2. The system (100) of claim 1, wherein the system is caused to generate a simulated command signal (156), and wherein a feed forward signal (140) is determined based on the simulated command signal (156).

3. The system (100) of claim 2, wherein the feed forward signal (140) is a derivative of the simulated command signal (156), and wherein the simulated command signal (156) toggles between two known values.

4. The system (100) of claim 2, wherein the control value (118) is based in part by the feed forward signal (140).

5. The system (100) of claim 1, wherein the system (100) is caused to generate a command signal (104) indicating the required load of the plurality of actuators (122).

6. The system (100) of claim 5, wherein the system (100) determines a feed forward signal (140), and wherein the feed forward signal (140) is a derivative of the command signal (104).

7. The system (100) of claim 1, wherein the system is caused to generate a feedback load signal (132) based on a force exerted by the plurality of actuators (122).

8. The system (100) of claim 7, wherein the system (100) determines an error value (108) based on the feedback load signal (132) and a command signal (104), and wherein the command signal (104) indicates the required load of the plurality of actuators (122).

9. The system (100) of claim 8, wherein the control value (118) is based in part on the error value (108).

10. The system (100) of claim 1, wherein a multi-actuator feed forward input (148) is generated by the plurality of actuators (122).

11. The system (100) of claim 10, wherein the control value (118) is based in part by a cross coupling compensation (CCC) output (154), and wherein the CCC output (154) is determined based on the multi-actuator feed forward input (148) and a single gain multiplier (152).

12. The system (100) of claim 1, wherein the at least one device (120) is a servo valve and the control value (118) is a current signal.

13. A method for controlling a plurality of actuators (122) by a system (100) including at least one device (120), the method comprising:

receiving as input, by a computer, a profile number (164) indicating a specific test being performed by the system (100) and a profile row (166) indicating a load exerted by the plurality of actuators;

selecting a predetermined gain output (170) by the computer based on the profile number (164) and the profile row (166) from a gain array (168), wherein the gain array (168) is a matrix containing a plurality of gain values (566), and wherein the predetermined gain output (170) is selected based on the profile number (164) and the profile row (166); and

determining, by the computer, a control value (118) based in part by the predetermined gain output (170), wherein the control value (118) instructs the at least one device (120) to move the plurality of actuators (122) to a required load.

14. The method of claim 13, comprising generating a simulated command signal (156) and determining a feed forward signal (140) based on the simulated command signal (156).

15. The method of claim 14, wherein the feed forward signal (140) is a derivative of the simulated command signal (156), and wherein the simulated command signal (156) toggles between two known values.

16. The method of claim 14, comprising determining the control value (118) in part by the feed forward signal (140).

17. The method of claim 13, comprising generating a command signal (104) indicating the required load of the plurality of actuators (122).

18. The method of claim 17, comprising determining a feed forward signal (140), and wherein the feed forward signal (140) is a derivative of the command signal (104).

19. The method of claim 13, comprising generating a feedback load signal (132) based on a force exerted by the plurality of actuators (122).

20. The method of claim 19, comprising determining an error value (108) based on the feedback load signal (132) and a command signal (104), and wherein the command signal (104) indicates the required load of the plurality of actuators (122).