Time-discrete adaptive switching on-off controller

• US 4,639,853 A
• Filed: 06/01/1984
• Issued: 01/27/1987
• Est. Priority Date: 06/03/1983
• Status: Expired due to Fees

• Current Assignee: Omron Tateisi Electronics Co. (Omron Corporation)
• Original Assignee: Omron Tateisi Electronics Co. (Omron Corporation)
• Inventors: Rake, Heinrich, Breddermann, Rudolf, Blumbach, Rainer, Muller, Ulrich, Hoffmann, Ulrich
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/616,196
• Time in Patent Office: 970 Days
• Field of Search: 364/148, 364/149, 364/150, 364/151, 364/160, 364/161, 364/162, 364/163, 364/200, 364/900, 364/141, 318/594, 318/600, 318/601, 318/636, 318/592
• US Class Current: 700/29
• CPC Class Codes: G05B 13/048 using a predictor

Abstract

The present invention relates to an arrangement for the discrete-time adaptive on-off switching control of a continuous-time process with a binary switching actuator, which uses for the determination of the on-off actuating signal a prediction of a process output sequence over several future sampling intervals as reaction to a possible process input sequence that is applied to a discrete-time linear process model and which estimates and updates in every sampling interval the parameters of the process model by means of a parameter estimation device in order to adapt them to the process to be controlled, even when the process behavior changes, and which has a device for the input and change of the setpoint, the limits of the process output and the sampling time as well as a measuring device for the periodical measurement of the process input. The arrangement further comprises two alternatively working control devices one of which is active in the stationary phase and the other of which is active in the start-up phase of the process or after setpoint changes, and a switching device which activates one or the other said control device in dependence of the result of the measurement of the process output and of input current setpoint, wherein the actuator is served by the active control device.

Claims

1. An apparatus for a discrete-time adaptive on-off switching control of a continuous-time process by means of a binary switching actuator producing two levels of actuating switching signals to on-off control said process, said apparatus using for a determination of an on-off actuating signal a prediction of a process output sequence over several future sampling intervals as a response to a possible process input sequence that is applied to a discrete-time linear process model, and estimating and updating in every sampling interval parameters of a process model by means of a parameter estimation means in order to adapt the parameters to the process to be controlled, even when the process behavior changes, said apparatus having a device to input and change a setpoint as well as a measuring device for a periodic measurement of the process output, characterized in that it comprises:

two alternatively working first and second control means, said first control means being active in a stationary phase of the process and said second control means being active in a start-up phase of the process or after setpoint changes, each of said control means operating differently to produce control signals for said actuator, and

switching means which activates one or the other of said control means in dependence of the result of a measurement of the process output and a current setpoint, said actuator being controlled by the control means which is activated by the switching means.

2. An apparatus as claimed in claim 1, wherein said switching means activates the second control means if the process has to be started or has to follow a setpoint change and activates the first control means if the process is run in the stationary phase.

3. An apparatus as claimed in claim 1, wherein said two control means are provided with informtion about the process by means of a common parameter estimation means.

4. An apparatus as claimed in claim 1, wherein said first control means predicts all possible 2^R future process output sequences, wherein the prediction of the process output sequence on the basis of a certain process input sequence is made by reusing the prediction of a portion of the process output sequence made on the basis of at least another process input sequence.

5. An apparatus as claimed in claim 1, wherein said first control means decouples a prediction time from a sampling time by dividing each discrete-time prediction step into a prefixed number of sampling intervals.

6. An apparatus as claimed in claim 1, wherein a determination of an evaluation parameter for each predicted process output and a resulting selection of the actuating signal for a next sampling interval is carried out together with the prediction.

7. An apparatus as claimed in claim 1, wherein the second control means predicts an extremal point of a process input sequence within which only one switching of an actuating signal occurs, the switching occurring after a first sampling interval of said process input sequence within which only one switching of an actuating signal occurs.

8. An apparatus as claimed in claim 7, wherein the actuating signal for a next sampling interval is taken from the said process input sequence within which only one switching of an actuating signal occurs, if a system deviation in the extremal point of the future process output sequence is of such a nature that no overshooting of the process output occurs.

9. An apparatus as claimed in claim 7, wherein, when process output overshooting occurs, the actuating signal is taken for the next sampling interval that results from a switching of the actuating signal to its counteracting level that is for the first sampling interval of the said process input sequence within which only one switching of an actuating signal occurs.

10. An apparatus as claimed in claim 7, wherein a prediction time is determined in such a manner that a time available within one sampling interval is used entirely for determining the actuating signal to be applied in the next sampling interval.

11. An apparatus as claimed in claim 1, further comprising a limit supervisory control means for turning off the active control means to switch the actuating signal of the process off or on if the process output exceeds the preselected upper or lower limit of the process output, respectively.

12. An apparatus as claimed in claim 1, further comprising manually operable limit supervisory control means for controlling the process by means of the actuator in such a way that the parameter estimation means yields a process model which can be used for later adaptive control.

13. An arrangement as claimed in claim 1, wherein the actuator is used synchronously with the measuring device.

14. An apparatus used in the transient phase of a process to be controlled comprising:

means for generating a process input sequence within which only one switching of an actuating signal occurs, the switching occurring after a first sampling interval of the process input sequence,

means for predicting a process output sequence over a number of future sampling intervals as a response to the process input sequence generated that is applied to a discrete-time linear process model, and further predicting the extremal point of the process output sequence, and

means for selecting an actuating signal for the next sampling interval from the process input sequence generated, if a system deviation in the extremal point of the future process output sequence is of such a nature that no overshooting of the process output occurs, and for selecting, where overshooting of a process occurs, an actuating signal for the next sampling interval that results from a switching of such actuating signal to its counteracting level that is for the first sampling interval of the process input sequence generated.

15. A method of operating an apparatus for a discrete-time adaptive on-off switching control of a continuous-time process by means of a binary switching actuator producing two levels of actuating switching signals to on-off control said process, said apparatus using for a determination of an on-off actuating signal a prediction of a process output sequence over several future sampling intervals as a response to a possible process input sequence that is applied to a discrete-time linear process model, and estimating and updating in every sampling interval parameters of a process model by means of a parameter estimation means in order to adapt the parameters to the process to be controlled, even when the process behavior changes, said apparatus having a device to input and change a setpoint as well as a measuring device for a periodic measurement of the process output, said method comprising:

predicting in a stationary phase all possible 2^R future process output sequences and predicting in a transient phase an extremal point of one future process output sequence which is caused by a process input sequence within which only one switching of an actuating signal occurs, the switching occurring after a first sampling interval of said process input sequence, within which only one switching of an actuating signal occurs,

selecting one or the other prediction in dependence of the result of the measurement of the process output and a current input setpoint, and

actuating the actuator in a next sampling interval based on a switching level produced from said one or the other prediction.