Generalized predictive control (GPC) based position control method for an axle

• US 7,945,352 B2
• Filed: 03/19/2007
• Issued: 05/17/2011
• Est. Priority Date: 05/18/2006
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Koc, Hakan
• Primary Examiner(s): Patel; Ramesh B
• Application Number:
  US12/227,469
• Publication Number:
  US 20090143921A1
• Time in Patent Office: 1,520 Days
• Field of Search: 700/28, 700/44, 700/61, 700/64, 700/302, 702150-151
• US Class Current: 700/302
• CPC Class Codes: G05B 13/048 using a predictor
• CPC Class Codes: G05B 2219/42058 General predictive controller GPC

Abstract

A position value, a desired position value and future desired position values as well as, for each future desired position value, a value which is characteristic of the temporal offset between said future desired position value and the respective immediately preceding desired position value are predefined for a position controller for an axle. The position controller uses a model of the axle to determine a manipulated variable and a respective expected manipulated variable and an expected position value for the future desired position values. The position controller determines the manipulated variable, the expected variables and the expected position values in such a manner that a total deviation of the position value and the expected position values from the corresponding desired position values is optimized in accordance with a predetermined assessment function. It drives the axle in accordance with the manipulated variable.

Claims

1. A position control method for an axle, comprising:

predefining a reference value and a position value for a position controller;

predefining a reference value change and a temporal offset between respectively immediately successive reference values for the position controller;

determining future reference values by the position controller, wherein the position controller uses the reference value, the reference value change and the temporal offset;

determining the corresponding setpoint position values by the position controller, wherein the position controller uses the reference values;

determining a manipulated variable and for a future setpoint position value an expected manipulated variable and an expected position value respectively by the position controller, wherein the position controller uses a model of the axle, and wherein an overall deviation of the position value and the expected position value from the corresponding setpoint position value is optimized according to a predetermined evaluation function; and

actuating the axle according to the manipulated variable by the position controller.

2. The position control method as claimed in claim 1, wherein the method is executed by a position controller.

3. The position control method as claimed in claim 2, wherein the position controller is integrated in an ASIC.

4. The position control method as claimed in claim 2, wherein the position controller has a program memory and a work device connected to the program memory, a controller program is stored in the program memory and the controller program is executed by the work device.

5. A computer readable medium storing a computer program, wherein the computer program is connected to a work device and executed by the work device, and during processing of the controller program the work device executes a position control method, comprising:

predefining a reference value and a position value for a position controller;

predefining a reference value change and a temporal offset between respectively immediately successive reference values for the position controller;

determining future reference values by the position controller, wherein the position controller uses the reference value, the reference value change and the temporal offset;

determining the corresponding setpoint position values by the position controller, wherein the position controller uses the reference values;

determining a manipulated variable and for a future setpoint position value an expected manipulated variable and an expected position value respectively by the position controller, wherein the position controller uses a model of the axle, and wherein an overall deviation of the position value and the expected position value from the corresponding setpoint position value is optimized according to a predetermined evaluation function; and

actuating the axle according to the manipulated variable by the position controller.