Adaptive control system
First Claim
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.
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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.
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Citations
16 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.
- 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.
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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.
Specification