Model-based control method and apparatus using inverse model

• US 5,925,089 A
• Filed: 07/10/1997
• Issued: 07/20/1999
• Est. Priority Date: 07/10/1996
• Status: Expired due to Term

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Fujime, Yoko
• Primary Examiner(s): Argenbright, Tony M.
• Assistant Examiner(s): Vo, Hieu T.
• Application Number:
  US08/893,440
• Time in Patent Office: 740 Days
• Field of Search: 701/106, 701/104, 701/103, 123/489, 123/436, 123/682, 123/680, 123/681, 123/339.11, 123/339.12, 123/480, 364/431.05
• US Class Current: 701/106
• CPC Class Codes: F02D 2041/1409 using at least a proportional, integral or derivative controller
• CPC Class Codes: F02D 2041/141 using a feed-forward control element
• CPC Class Codes: F02D 2041/1418 Several control loops, either as alternatives or simultaneous
• CPC Class Codes: F02D 2041/142 using different types of control law in combination, e.g. adaptive combined with PID and sliding mode
• CPC Class Codes: F02D 2041/1431 the system including an input-output delay
• CPC Class Codes: F02D 2041/1433 using a model or simulation of the system
• CPC Class Codes: F02D 2041/1434 Inverse model
• CPC Class Codes: F02D 2200/0402 the parameter being determined by using a model of the engine intake or its components
• CPC Class Codes: F02D 41/1401 characterised by the control or regulation method F02D41/1473, F02D41/1477 take precedence
• CPC Class Codes: F02D 41/1405 Neural network control
• CPC Class Codes: F02D 41/1458 with determination means using an estimation
• CPC Class Codes: G05B 13/027 using neural networks only
• CPC Class Codes: G05B 17/02 electric

Abstract

A model-based control system for controlling a state of an operating subject such as an engine, characterized by forming an inverse model using a forward model and a feedback control system. The subject is modeled using first-order lag elements and dead time, and dead time is removed from the feedback control system. Responsiveness is high not only during a stable state but also during a transient state.

Claims

1. A system for controlling a machine operable by at least one causative signal, at a predetermined target value of an indicative signal without delay in responding to input of the predetermined target value of the indicative signal, said indicative signal indicating a result of operation of the machine by the causative signal, wherein the indicative signal is theoretically calculable from the causative signal whereas the causative signal is theoretically incalculable from the indicative signal due to high-order lag elements of calculation, said system comprising:

a computer simulation model of the machine which calculates and outputs a simulated value of the indicative signal when a value of the causative signal is inputted;

a feedback unit which compares the simulated value of the indicative signal and a predetermined target value of the indicative signal, and which modifies the value of the causative signal based on said comparison to match the simulated value of the indicative signal and the predetermined target value of the indicative signal;

a circuit for inputting the modified value of the causative signal from the feedback unit into the computer simulation model; and

a circuit for inputting the modified value of the causative signal from the feedback unit into the machine to operate the machine.

2. The system according to claim 1, wherein the machine to be controlled is an engine, the indicative signal includes the air-fuel ratio, and the causative signal includes fuel-injection quantity, wherein the system further comprises a circuit for inputting an engine speed and a throttle angle into the computer simulation model to calculate the air-fuel ratio.

3. A system for controlling a machine operable by at least one causative signal, at a predetermined target value of an indicative signal without delay in responding to input of the predetermined target value of the indicative signal, said indicative signal indicating a result of operation of the machine by the causative signal, wherein the indicative signal is theoretically calculable from the causative signal whereas the causative signal is theoretically incalculable from the indicative signal due to high-order lag elements of calculation, said system comprising:

a computer simulation model of the machine which calculates and outputs a simulated value of the indicative signal when a value of the causative signal is inputted;

a feedback unit which compares the simulated value of the indicative signal and a predetermined target value of the indicative signal, and which modifies the value of the causative signal based on said comparison to match the simulated value of the indicative signal and the predetermined target value of the indicative signal;

a circuit for inputting the modified value of the causative signal from the feedback unit into the computer simulation model;

a circuit for obtaining an actual value of the indicative signal from the machine;

a second feedback unit which compares the actual value of the indicative signal and the predetermined value of the indicative signal, and which compensates for the modified value of the causative signal based on said comparison to match the actual value of the indicative signal and the predetermined target value of the indicative signal; and

a circuit for inputting the compensated modified value of the causative signal from the second feedback unit into the machine to operate the machine.

4. The system according to claim 3, further comprising:

a circuit for comparing the modified value of the causative signal and the compensated modified value of the causative signal; and

a circuit for inputting said comparison and the predetermined target value of the indicative signal into the computer simulation model to update the model, wherein the computer simulation model has a learning function.

5. The system according to claim 4, wherein said learning function comprises a neural network, in which said comparison and the modified value of the causative signal are used as teacher data.

6. The system according to claim 3, wherein the machine to be controlled is an engine, the indicative signal includes the air-fuel ratio, and the causative signal includes fuel-injection quantity, wherein the system further comprises a circuit for inputting an engine speed and a throttle angle into the computer simulation model to calculate the air-fuel ratio.

7. A method for controlling a machine operable by at least one causative signal, at a predetermined target value of an indicative signal without delay in responding to input of the predetermined target value of the indicative signal, said indicative signal indicating a result of operation of the machine by the causative signal, wherein the indicative signal is theoretically calculable from the causative signal whereas the causative signal is theoretically incalculable from the indicative signal due to high-order lag elements of calculation, said machine provided with a control unit comprising a computer simulation model of the machine which calculates and outputs a simulated value of the indicative signal when a value of the causative signal is inputted, said method comprising the steps of:

(a) at a predetermined target value of the indicative signal, inputting a value of the causative signal into the computer simulation model, and outputting a simulated value of the indicative signal;

(b) comparing the simulated value of the indicative signal and the predetermined target value of the indicative signal;

(c) modifying the value of the causative signal based on the comparison in step (b) to match the simulated value of the indicative signal and the predetermined target value of the indicative signal;

(d) inputting the modified value of the causative signal into the computer simulation model, and outputting a simulated value of the indicative signal;

(e) inputting the modified value of the causative signal into the machine to operate the machine; and

(f) repeat steps (b) through (e);

whereby the machine is controlled substantially at the predetermined target value of the indicative signal without delay in responding to the input of the predetermined target value of the indicative signal.

8. The method according to claim 7, wherein the machine to be controlled is an engine, the indicative signal includes the air-fuel ratio, the causative signal includes fuel-injection quantity, and when calculating the air-fuel ratio from the fuel-injection quantity, an engine speed and a throttle angle are inputted into the computer simulation model.

9. A method for controlling a machine operable by at least one causative signal, at a predetermined target value of an indicative signal without delay in responding to input of the predetermined target value of the indicative signal, said indicative signal indicating a result of operation of the machine by the causative signal, wherein the indicative signal is theoretically calculable from the causative signal whereas the causative signal is theoretically incalculable from the indicative signal due to high-order lag elements of calculation, said machine provided with a control unit comprising a computer simulation model of the machine which calculates and outputs a simulated value of the indicative signal when a value of the causative signal is inputted, said method comprising the steps of:

(a) at a predetermined target value of the indicative signal, inputting a value of the causative signal into the computer simulation model, and outputting a simulated value of the indicative signal;

(b) comparing the simulated value of the indicative signal and the predetermined target value of the indicative signal;

(c) modifying the value of the causative signal based on the comparison in step (b) to match the simulated value of the indicative signal and the predetermined target value of the indicative signal;

(d) inputting the modified value of the causative signal into the computer simulation model, and outputting a simulated value of the indicative signal;

(e) inputting the modified value of the causative signal into the machine to operate the machine;

(f) obtaining an actual value of the indicative signal from the machine;

(g) comparing the actual value of the indicative signal and the predetermined value of the indicative signal;

(h) compensating for the modified value of the causative signal based on the comparison in step (g) to match the actual value of the indicative signal and the predetermined target value of the indicative signal;

(i) inputting the compensated modified value of the causative signal into the machine to operate the machine; and

(j) repeating steps (b) through (d) and steps (f) through (i);

whereby the machine is controlled substantially at the predetermined target value of the indicative signal without delay in responding to the input of the predetermined target value of the indicative signal.

10. The method according to claim 9, further comprising the step of updating the computer simulation model by a method comprising:

after step (i), comparing the modified value of the causative signal and the compensated modified value of the causative signal; and

updating the computer simulation model based on said comparison and the predetermined target value of the indicative signal.

11. The method according to claim 10, wherein said computer simulation model has a leaning function comprising a neural network, in which the sum of the modified value of the causative signal and the compensated modified value of the causative signal are used as teacher data.

12. The method according to claim 9, wherein the machine to be controlled is an engine, the indicative signal includes the air-fuel ratio, the causative signal includes fuel-injection quantity, and when calculating the air-fuel ratio from the fuel-injection quantity, an engine speed and a throttle angle are inputted into the computer simulation model.