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Model predictive controller

  • US 6,056,781 A
  • Filed: 02/06/1998
  • Issued: 05/02/2000
  • Est. Priority Date: 10/13/1992
  • Status: Expired due to Term
First Claim
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1. A method of executing real-time control of an apparatus, comprising the steps of:

  • receiving input signals which represent measured parameter values from a plurality of sensors in said apparatus;

    periodically transmitting a time-recorded set of said measured parameter values to an interactive modeler which includesa nonlinear process model having an on-line version for use in said real-time execution of control wherein said on-line version is derived from dynamic behavior in said process,an independent disturbance model having an on-line version for use in said real-time execution of control wherein said on-line version provides an error model for predicting future model error,an integrated model building function for use in building a future version of said process model and a future version of said disturbance model, andan integrated adaptive function for selectively enabling change of the process model on-line version and, alternatively, the disturbance model on-line version into a respective future version and for enabling said respective future version to replace the respective on-line version at a user-specified moment and thereby effect a new respective said on-line version wherein said change is enabled while said interactive modeler is in on-line use in said real-time execution of control;

    estimating the current state of at least one unmeasured process parameter in said interactive modeler from said process model;

    projecting a desired set of desired directly controlled parameter values and at least one desired indirectly controlled parameter value over a predetermined control horizon;

    periodically estimating how said apparatus will react to proposed changes to the value of at least one manipulated parameter over said control horizon, and determining a set of current and future manipulated parameter values which will minimize deviations from said desired set; and

    causing a process control device in said apparatus to implement said manipulated parameter values.

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