US 10,241,483 B2Granted

Control device design method and control device

AssigneesNational University Corporation Nagoya University, Toyota Jidosha Kabushiki Kaisha

InventorsKota Sata, Junichi Kako, Satoru Watanabe, Yuta Suzuki, Masato Edahiro

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Abstract

The present invention relates to a control device design method for a control device that determines a manipulation amount of a control object having a dead time by feedback control so as to bring a control amount of the control object closer to a target value. The method according to the present invention includes a step of designing a feedback loop that computes a correction amount for the manipulation amount using a plurality of controllers including a prediction model of the control object, a step of deriving the same number of delay elements as the plurality of controllers from a dead time element of the prediction model, and a step of allocating the plurality of controllers associated with the delay elements to a plurality of arithmetic units so that the computation of the feedback loop is performed by parallel computation by the plurality of arithmetic units that operate in parallel.

Claims9

Dependent claims

A control device that determines a manipulation amount of a control object having a dead time by feedback control so as to bring a control amount of the control object closer to a target value, comprising:

a plurality of arithmetic units that operate in parallel,
wherein the plurality of arithmetic units are configured so that a signal is sequentially transmitted by the arithmetic units, the manipulation amount is input to the first arithmetic unit in a signal transmission sequence, and a correction amount for the manipulation amount is output from the last arithmetic unit in the signal transmission sequence,
each of the plurality of arithmetic units has a delay element that delays an input by a predetermined number of steps and a controller that produces an output by processing the input delayed by the delay element, and
the plurality of arithmetic units are configured so that a sum of a total delay time determined by the number of the delay elements and a control period of the control device and a total dead time of the controllers is equal to the dead time of the control object.

1 more element

Dependencies are inferred from the claim text.