Residual activation neural network
DCFirst Claim
1. A control network for controlling a plant having plant control inputs for receiving plant control variables and desired plant outputs, the plant outputs being a function of the plant control variables and external influences on the plant, comprising:
- a control network input for receiving as network inputs the current plant control variables and desired plant outputs;
a control network output for outputting predicted plant control variables necessary to achieve the desired plant outputs;
a processing system for processing the received plant control variables through an inverse representation of the plant that represents the dependencies of the plant output on the plant control variables parameterized by an estimation of the external influences to provide the predicted plant control variables to achieve the desired plant outputs, said processing system having;
an estimation network for estimating the external influences on the plant and output estimated external influences,means for parameterizing the inverse representation of the plant with the estimated influences.a first intermediate output for providing a predicted plant output,a first intermediate processing system for receiving the plant control variables from said control network input and the estimated external influences from said estimation network for processing through a predictive model of the plant to generate the predicted plant outputs for output from said intermediate output,an error generation device for comparing the predicted plant outputs to the desired plant outputs and generating an error representing the difference therebetween,a second intermediate processing system for processing the error through the inverse representation of the plant that represents the dependencies of the plant output on the plant control variables parameterized by the estimated external influences to output predicted control variable change values,a control system for inputting said predicted control variable change values to the input of said first intermediate processing system for summing with the control variable input to provide a summed control variable value, and processing the summed control variable through said first processing system to minimize said error and output the summed control variable value as the predicted control variables; and
an interface device for inputting the predicted plant control variables that are output by said control network output to the plant as plant control variables to achieve the desired plant outputs.
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Abstract
A plant (72) is operable to receive control inputs c(t) and provide an output y(t). The plant (72) has associated therewith state variables s(t) that are not variable. A control network (74) is provided that accurately models the plant (72). The output of the control network (74) provides a predicted output which is combined with a desired output to generate an error. This error is back propagated through an inverse control network (76), which is the inverse of the control network (74) to generate a control error signal that is input to a distributed control system (73) to vary the control inputs to the plant (72) in order to change the output y(t) to meet the desired output. The control network (74) is comprised of a first network NET 1 that is operable to store a representation of the dependency of the control variables on the state variables. The predicted result is subtracted from the actual state variable input and stored as a residual in a residual layer (102). The output of the residual layer (102) is input to a hidden layer (108) which also receives the control inputs to generate a predicted output in an output layer (106). During back propagation of error, the residual values in the residual layer (102) are latched and only the control inputs allowed to vary.
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Citations
13 Claims
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1. A control network for controlling a plant having plant control inputs for receiving plant control variables and desired plant outputs, the plant outputs being a function of the plant control variables and external influences on the plant, comprising:
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a control network input for receiving as network inputs the current plant control variables and desired plant outputs; a control network output for outputting predicted plant control variables necessary to achieve the desired plant outputs; a processing system for processing the received plant control variables through an inverse representation of the plant that represents the dependencies of the plant output on the plant control variables parameterized by an estimation of the external influences to provide the predicted plant control variables to achieve the desired plant outputs, said processing system having; an estimation network for estimating the external influences on the plant and output estimated external influences, means for parameterizing the inverse representation of the plant with the estimated influences. a first intermediate output for providing a predicted plant output, a first intermediate processing system for receiving the plant control variables from said control network input and the estimated external influences from said estimation network for processing through a predictive model of the plant to generate the predicted plant outputs for output from said intermediate output, an error generation device for comparing the predicted plant outputs to the desired plant outputs and generating an error representing the difference therebetween, a second intermediate processing system for processing the error through the inverse representation of the plant that represents the dependencies of the plant output on the plant control variables parameterized by the estimated external influences to output predicted control variable change values, a control system for inputting said predicted control variable change values to the input of said first intermediate processing system for summing with the control variable input to provide a summed control variable value, and processing the summed control variable through said first processing system to minimize said error and output the summed control variable value as the predicted control variables; and an interface device for inputting the predicted plant control variables that are output by said control network output to the plant as plant control variables to achieve the desired plant outputs. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling a plant having plant outputs and plant control inputs for receiving plant control variables and desired plant outputs, the plant outputs being a function of the plant control variables and external influences on the plant, comprising the steps of:
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receiving the current plant control variables and desired plant outputs; estimating the external influences on the plant as estimated external influences; parameterizing the inverse representation of the plant with the estimated external influences; processing the received plant control variables through an inverse representation of the plant that represents the dependencies of the plant output on the plant control variables parameterized by an estimation of the external influences to provide the predicted plant control variables necessary to achieve the desired plant outputs, the step of processing including the steps of; processing in a first intermediate processing step the plant control variables and the estimated external influences through a predictive model of the plant to generate the predicted plant outputs for output from an intermediate output, comparing the predicted plant outputs to the desired plant outputs and generating an error representing the difference therebetween, processing in a second intermediate processing step the error through the inverse representation of the plant that represents the dependencies of the plant output on the plant control variables parameterized by the estimated external influences to output predicted control variable change values, and changing the input control variables to the first intermediate step by the control variable change values to provide the predicted plant control variables; outputting on an output the predicted plant control variables necessary to achieve the desired plant outputs; and controlling the plant with the predicted plant control variables. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification