Optimum tracking control method for periodic target value

• US 5,119,287 A
• Filed: 04/28/1989
• Issued: 06/02/1992
• Est. Priority Date: 09/11/1987
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
• Original Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
• Inventors: Futami, Shigeru, Nakamura, Hiroshi
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US07/363,906
• Time in Patent Office: 1,131 Days
• Field of Search: 364/148, 364/164, 364/165, 364/178, 364/179, 364/194, 364/149-152, 364/183, 318/561
• US Class Current: 700/51
• CPC Class Codes: G05B 13/022 using a perturbation of the variable
• CPC Class Codes: G05B 13/0225 being a periodic perturbation
• CPC Class Codes: G05B 13/026 using a predictor
• CPC Class Codes: G05B 21/02 electric

Abstract

A conventional design method intended for repetitive target values utilizes a tracking error of one period before or such a error at the time t'"'"' at the preceding trial corresponding to the present time t. The error from the time of one period before up to the present or what is the time t'"'"' after has not been utilized, though it is very useful when the present invention uses an algorithm for making the output of a controlled system follow up a periodic target value in an optimum determined manner with only four fundamental arithmetic operations, using an incremental amount of modification at individual sampling time, tracking errors of one period before and thereafter, the present tracking error, the past incremental amounts of modification, the control input of one period before and preset constants. The control method according to the present invention is characterized by minimizes the weighting square sum of estimated values of a future tracking error, using a control input at individual sampling time, tracking errors of one period before and thereafter, the amounts of past modification, data (indicial response) pertaining to the dynamic characteristics of a controlled object, and the control input of one period before or its equivalent for the controlled object having target a value repeating the same pattern.

Claims

1. A control method for tracking to a target that repeats the same pattern with a predetermined period, for producing a control input signal U(i) at sampling times i in successive periods 1, for controlling a controlled object, in a control system, said control system having a generator for producing a target value signal and the controlled object producing a control output, said method comprising repetitively combining said target value signal and control output signal to produce sampled tracking error signals e(i) and storing said tracking error signals e(i), repetitively generating and storing signals a(i) corresponding to the incremental modification of the control input signal U(i) at the sampling times i in accordance with the relationship:

##EQU47## where N;

the number of samples for the indicial response of the controlled object to settle satisfactorily;

M;

the number of samples in consideration of a weighting coefficient relative to time; and

Wk;

(k=1, . . . , M), α

_n (n=0, . . . ,N-1) and Ws;

constants determined by the indicial response of the controlled object and the weighting coefficient relative to time, and

repetitively generating and storing said control input signals U(i) in accordance with the relationship;

##EQU48## using said stored signals a(i) in the former relationship, and applying said control input signals U(i) to said controlled object.

2. A control method as claimed in claim 1, comprising recording control inputs U(j) (j=1, . . . i+l-1) for one period in memories after tracking errors resulting from the sufficient number of trials have converged at a value smaller than the one desired in order that data thus recorded is used as a control input without being calculated.

3. A control method for optimum tracking to the target value that repeats the same pattern with a predetermined period, for producing a control input signal u(i) at sampling times i in successive periods 1, for controlling a controlled object, in a control system, said control system having a generator for producing a target value signal and the controlled object producing a control output, said method comprising repetitively combining said target value signal and control output to produce sampled tracking error signals e(i) and storing said tracking error signals e(i), repetitively generating and storing said control input signal u(i) in accordance with the relationship:

##EQU49## where i'"'"';

sampling time of a period before the present time;

a(j);

an incremental value signal corresponding to the modification at sampling time j; and

iO;

time when the initial value of the incremental amount of modification is set,

generating and storing the incremental signal a(i) at the present time by using data pertaining to the dynamic characteristics of the controlled object, tracking errors during the present and past one periods, and past incremental amounts of modification and

applying said control input signals u(i) to said controlled object.

4. A control method for optimum tracking to a periodic target value as claimed in claim 3, comprising determining the incremental amount of modification a(i) at the present time so that the weighted square sum ##EQU50## of the estimated values e(j) (j=i+1, i+2, . . . , i+M) of future tracking errors from the time i+1 up to the future time i+M is minimized.

5. A control method for optimum tracking to a periodic target value as claimed in claim 3, comprising utilizing a sampling value of the indicial response of a controlled object as data pertaining to the dynamic characteristics of the controlled object.

6. A control method for optimum tracking to a periodic target value as claimed in claim 3, comprising determining the incremental amount of modification a(i) at the present time by the relationship:

##EQU51## where e(i);

a tracking error at time i;

N;

the number of samplings of the indicial response of the control system;

M;

the estimated number of tracking errors; and

qk (k=1, . . . , M), Q and g_n (n=1, . . . N-1);

constants determined by the sample value of the indicial response of the control system and the weights applied to the estimated value of the tracking errors.

7. A control method for optimum tracking to a periodic target value as claimed in claim 3, using a control input for one period stored in the memory for the operation thereof after tracking errors resulting from the sufficient number of trials have converged at a value smaller than the one desired.

8. A control method for optimum tracking to a periodic target value as claimed in claim 3, comprising determining an incremental amount of modification a(i+1), in place of a(i), at the present time i in consideration of delay in calculation time and wherein the value thus determined is utilized at time i+1.

9. A control method for tracking to the target value that repeats the same pattern with a predetermined period, for producing a control input signal u(i) at sampling times i in successive periods 1, for controlling a controlled object, in a control system, said control system having a generator for producing a target value signal and the controlled object producing a control output, said method comprising repetitively combining said target value signal and control output to produce a sampled tracking error signal e(i) and storing said tracing error signal e(i), wherein the control system has a memory for storing the tracking error signals and control input signals during a past period and the past values of modification signals, generating and storing the control input signal u(i) in said memory, in accordance with the relationship:

space="preserve" listing-type="equation">u(i)=u(i'"'"')+σ

(i)

where

i'"'"';

sampling time one period before the present time,

σ

(i) is a value of the modification signal at the present time i and determined as a function of data stored in said memory pertaining to the dynamic characteristics of the controlled object, the tracking error during the past period, and the value of the past modification signal, and

applying said control input signal u(i) to said controlled object.

10. A sampling control method as claimed in claim 9, comprising determing the amount of modification σ

(i) so that the weighted square sum of the estimated value e(j) (j=i+1. i+2, . . . ,i+M) of the future tracking error ##EQU52## from the following time i+1 up to the future time i+M is minimized.

11. A sampling control method as claimed in claim 9, comprising utilizing the sampling value of the indicial response of a controlled object as data pertaining to the dynamic characteristics of the controlled object.

12. A control method for optimum tracking to the periodic target value as claimed in claim 9, comprising determining the amount of modification σ

(i) at the present sampling time i by the relationship ##EQU53## where e(i'"'"'+k);

a tracking error at time i'"'"'+k;

N;

the number of samplings of the indicial response of the control system;

M;

the estimated number of tracking errors;

qk(k=1, . . . , M) and f_n (n=1, . . . ,N-1);

constants determined by the sample value of the indicial response of the control system and the weight applied to the estimated value of the tracking error.

13. A sampling control method as claimed in claim 9, comprising using, after when the tracking errors are converged within the range of desired values through sufficient repetition, a control input for one period stored in the memory for the control without being calculated.

14. A control method for optimum tracking to the target value that intermittently repeats the same pattern, for producing a control input signal u(i) at sampling times i in successive periods 1, for controlling a controlled object, in a control system, said control system having a generator for producing a target value signal and the controlled object producing a control output, said method comprising repetitively combining said target value signal and control output to produce a sampled tracking error signal e(i) and storing said tracking error signal, wherein the control system has a memory for storing control input signals, tracking error signals errors and incremental values of modification signals, generating and storing in said memory a control input signal u(i) at the present time in accordance with the relationship:

##EQU54## where i'"'"';

sampling time in the preceding attempt, the time corresponding to the time i;

a(j);

the value of an incremental modification signal at sampling time j;

i₀ ;

time when the present attempt is started; and

generating and storing the incremental value of the modification signal in said memory at the time i using data stored in said memory pertaining to the dynamic characteristics of a controlled object, the tracking error at the time i, the tracking error in the preceding attempt, and past incremental values of the modification signal determined at the preceding sampling times up to the time i-1, and

applying said control input signal u(i) to said controlled object.

15. A sampling control method as claimed in claim 14, comprising using determining the incremental amount of modification a(i) at time i so that the weighted square sum ##EQU55## of the estimated values e(j) (j=i+1, i+2, . . . ,i+M) of the future tracking errors from the following time i+1 up to the future time i+M is minimized.

16. A control method for optimum tracking to a periodic target value as claimed in claim 14, comprising using a sampling value of the indicial response of a controlled object as data pertaining to the dynamic characteristics of the controlled object.

17. A control method for optimum tracking to a periodic target value as claimed in claim 14, comprising determining the incremental amount of modification a(i) at the present time the relationship by:

##EQU56## where e(i);

a tracking error at time i;

N;

the number of samplings of the indicial response of the control system;

M;

the estimated number of tracking errors; and

qk(k=1, . . . ,M), Q and g_n (n=1, . . . N-1);

constants determined by the sample value of the indicial response of the control system and the weights applied to the estimated value of the tracking error.

18. A control method as claimed in claim 14, comprising using, after the tracking errors have sufficiently converged at a value smaller than the one desired a control input for one period stored in the memory for the control without being calculated.

19. A sampling method as claimed in claim 14, comprising determining the incremental amount of modification a(i+1) but not a(i) at time i in consideration of calculation time delay in order that the value is utilized at time i+1.

20. A sampling method as claimed in claim 14, comprising using a memory to store a tracking error at the preceding trial and a value calculated from the preset constants, so that these values are utilized when the control input u(i) is determined.

21. A control method for optimum tracking to the target value that intermittently repeats the same pattern, for producing a control input signal u(i) at sampling times i in successive periods l, for controlling a controlled object, in a control system, said control system having a generator for producing a target value signal and the controlled object producing a control output, said method comprising repetitively combining said target value signal and control output to produce a sampled tracking error signal e(i) and storing said tracking error signal e(i), wherein the control system has a memory for storing tracking error and control input signals for one attempt, values of modification signals and preset constants, generating and storing a control input signal u(i) in said memory at each sampling time in accordance with the relationship:

space="preserve" listing-type="equation">u(i)=u(i'"'"')+σ

(i)

where

i'"'"';

sampling time in the preceding attempt, the time corresponding to the time i;

σ

(i) is a value of a modification signal at the present time i and generated as a function of data in said memory pertaining to the dynamic characteristics of the controlled object, the value of tracking error signals in the preceding attempt, and the value of the past modification signal before the time i, and

applying said control input signal u(i) to said controlled object.

22. A sampling control method as claimed in claim 21, comprising computing a series of control inputs for one trial for a subsequent trial after each trial is terminated, and wherein the results thus computed are stored in memories so that stored data are used at each trial.

23. A sampling control method as claimed in claim 21, comprising determining the amount of modification σ

(i) at time i so that the weighted square sum ##EQU57## of the estimated values e(j) (j=i+1, i+2, . . . ,i+M) of future tracking errors from the time i+1 up to the time i+M is minimized.

24. A control method for optimum tracking to a periodic target value as claimed in claim 21, comprising using a sampling value of the indicial response of a controlled object as data pertaining to the dynamic characteristics of the controlled object.

25. A control method for optimum tracking to a periodic target value as claimed in claim 21, comprising determining the amount of modification σ

(i) at the present time by the relationship;

##EQU58## where e(i'"'"'+k);

a tracking error at time i'"'"'+k;

N;

the number of sampling of the indicial response of the control system;

M;

the estimated number of tracking errors; and

qk (k=1, . . . ,M) and gn (n=1, . . . N-1);

constants determined by the sample value of the indicial response of the control system and the weights applied to the estimated value of the tracking errors.

26. A sampling control method as claimed in claim 21, comprising using, after the tracking errors have sufficiently converged at a value smaller than the one desired through sufficiently many repetitions, a control input for one period stored in the memory for the control without being modified on a trial basis.