Adaptive control system

• US 4,498,036 A
• Filed: 08/15/1983
• Issued: 02/05/1985
• Est. Priority Date: 08/15/1983
• Status: Expired due to Fees

• Current Assignee: Pneumo Abex Corp. (MX Holdings One LLC)
• Original Assignee: Pneumo Corp. (PepsiCo Incorporated)
• Inventors: Salemka, Robert M.
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/522,979
• Time in Patent Office: 540 Days
• Field of Search: 318/561, 318/615-618, 318/599, 318/341, 330/1 A, 364/148
• US Class Current: 318/561
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: G05B 13/0245 not using a perturbation signal
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/39178 Compensation inertia arms
• CPC Class Codes: G05B 2219/41163 Adapt gain to friction, weight, inertia
• CPC Class Codes: G05B 2219/41434 Feedforward FFW
• CPC Class Codes: G05B 2219/42237 Pwm pulse width modulation, pulse to position modulation ppm
• CPC Class Codes: G05B 2219/45083 Manipulators, robot

Abstract

A method of adaptive control for use in a controlled system having an adjustable forward loop gain and a control system apparatus for carrying out the method are disclosed. The control system measures the value of a parameter which is to be controlled and generates an error signal by comparing the measured valve of the parameter with a desired valve. The error signal is squared and the time derivative of the squared error signal is obtained. The control system compares the length of time that the derivative so obtained has a positive value to the time it has a negative value to obtain a gain control signal, and applies the gain control signal to the forward loop gain. The gain control signal reduces the adjustable forward loop gain until a preselected margin of stability in the controlled system is obtained.

Claims

1. An adaptive control method for controlling a parameter of a process or mechanism comprising the steps of measuring the value of the parameter, comparing the measured value with a desired value to obtain an error signal, squaring the error signal, taking the time derivative of the error signal squared, comparing the length of time that the time derivative of the error signal squared has a positive value to the length of time the time derivative of the error signal squared has a negative value to obtain a gain control signal, applying the error signal to the system through an amplifier whose gain is controlled by said gain control signal to adjust the parameter desired to be controlled.

2. The method of claim 1 wherein said step of comparing the length of time the time derivative of the error signal squared is positive and the length of time it is negative includes the steps of triggering a pulse width modulation circuit with the time derivative of the error signal squared and integrating the output of the pulse width modulation circuit.

3. The method of claim 2 wherein said step of triggering the pulse width modulation circuit includes the steps of triggering the pulse width modulation circuit only when the absolute value of the time derivative of the error signal squared exceeds a predetermined value.

4. The method of claim 2 further including the steps of multiplying the length of time the time derivative of the error signal squared is positive by a preselected constant and comparing the result with the length of time said time derivative of said error signal squared is negative.

5. The method of claim 1 including the step of limiting the maximum and minimum gain of said amplifier control through which the error signal is applied to the system.

6. In a system having a process with a controlled parameter, an error signal representing the difference between the actual and desired values of the controlled parameter and a variable gain amplifier for applying the error signal to the process to alter the controlled parameter, the method of controlling the gain of said amplifier including varying the gain of said amplifier in response to the integral of a pulse width modulation circuit triggered by a changing sign of the time derivative of the square of the error signal.

7. The method of claim 6 including limiting the maximum and minimum gain of said amplifier.

8. The method of claim 7 including multiplying the amplitude of the portion of the output of the pulse width modulation circuit which is positive by a selected factor to establish a desired margin of system stability.

9. The method of claim 8 including providing the pulse width modulation circuit with a dead band whereby said circuit does not respond until the absolute value of the time derivative of the error signal squared exceeds a selected value.

10. An adaptive control system for controlling a process having an input, a forward gain and an output, said adaptive control system including

means for measuring the value of said output,

means for comparing the value of said output with a desired value for said output to obtain an error signal,

means for squaring said error signal,

means for taking the time derivative of said squared error signal,

means for computing the sum of the length of time said derivative is positive and the length of time said derivative is negative, and

means for controlling said forward gain of said controlled process in response to said sum.

11. The adaptive control system of claim 10 wherein said means for computing the sum includes a pulse width modulation circuit.

12. The adaptive control system of claim 11 wherein said pulse width modulation circuit has two output states, one positive and one negative.

13. The adaptive control system of claim 12 wherein said pulse width modulation circuit is triggered by changing sign of said derivative.

14. The adaptive control system of claim 13 wherein said pulse width modulation circuit includes means for adjusting the ratio between said two output states.

15. The adaptive control system of claim 12 wherein said pulse width modulation circuit includes a deadband whereby said pulse width modulation circuit changes output states only when the absolute value of said derivative exceeds a predetermined value.

16. The adaptive control system of claim 10 including means for limiting the maximum and minimum values of said forward gain.