# US 10,309,330 B2 · Model reference adaptive controller > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,309,330 B2 - Document ID: US10309330B2 - Status: Granted - Kind: B2 - Application number: 15/336,546 - Filed: 2016-10-27 - Published: 2018-05-03 - Granted: 2019-06-04 - Earliest claimed: 2016-10-27 - Assignees: ROLLS-ROYCE plc - Applicants: Rolls-Royce Corporation - Inventors: Curtis Harvey Cline; Stanislaw Zak - Web page: https://patentgrep.com/patent/US10309330B2 ## CPC - F02D 41/1402: {Adaptive control} - F02D 41/26: using computer, e.g. microprocessor - G05B 13/041: {in which a variable is automatically adjusted to optimise the performance} - G05B 13/042: {in which a parameter or coefficient is automatically adjusted to optimise the performance} - F02D 2041/1433: {using a model or simulation of the system} - F02D: CONTROLLING COMBUSTION ENGINES (vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed B60K31/00; conjoint control of vehicle sub-units of different type or different function, road vehicle drive control systems for purposes other than the control of a single sub-unit B60W) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract The disclosure describes a system that includes a closed-loop reference module, an adaptation module, and a control module. The closed-loop reference module is configured to execute a reference model that represents operation of an engine and determine a reference control signal and a reference state trajectory signal. The adaptation module is configured to determine an adaptation signal based on a difference between the reference state trajectory signal and an engine state trajectory signal representative of actual operation of the engine. The control module is configured to receive the reference control signal from the closed-loop reference module, the adaptation signal from the adaptation module, and the engine state trajectory signal. The control module is further configured to determine a demand signal based on the engine state trajectory signal, the adaptation signal, and the reference control signal, and output the demand signal to control operation of at least one engine component. ## Claims ### Claim 1 A method, comprising: receiving, by a control module, from a closed-loop reference module, a reference control signal, wherein the closed-loop reference module executes a reference model that represents operation of an engine, and wherein the reference control signal represents a measurable, manipulated engine variable associated with the operation of the engine; receiving, by the control module, from an adaptation module, an adaptation signal, wherein the adaptation module determines the adaptation signal based on a difference between a reference state trajectory signal output by the closed-loop reference module and an engine state trajectory signal representative of actual operation of the engine; receiving, by the control module, the engine state trajectory signal; determining, by the control module, a first demand signal based on the engine state trajectory signal, the adaptation signal, and the reference control signal; receiving, by loop selection logic, the first demand signal, wherein the first demand signal represents one of steady-state, transient, or limit protection operation; receiving, by the loop selection logic, a second demand signal, wherein the second demand signal represents another one of steady-state, transient, or limit protection operation; selecting or combining, by the loop selection logic, the first demand signal or the second demand signal, or some combination of first and second demand signals; and outputting, by the loop selection logic, the first demand signal, the second demand signal, or the combination of first and second demand signals to control operation of at least one component of the engine. ### Claim 2 (depends on 1) The method of claim 1, further comprising: determining, by the closed-loop reference module, the reference control signal based on a demand setpoint; and outputting, by the closed-loop reference module, the reference control signal to the control module. ### Claim 3 (depends on 2) The method of claim 2, wherein: the closed-loop reference module comprises a compensator module and a reference model module; and determining the reference control signal further comprises: determining, by the compensator module, the reference control signal based on the demand setpoint and the reference state trajectory signal; and determining, by the reference model module, the reference state trajectory signal based on the reference control signal using the reference model. ### Claim 4 (depends on 3) The method of claim 3, wherein the reference model includes a piecewise-linear engine model, a nonlinear thermodynamic cycle engine model, or any input/output functional form configured to represent engine behavior. ### Claim 5 (depends on 1) The method of claim 1, wherein: the adaptation module further determines the adaptation signal based on a difference between a reference parameter trajectory signal output by the closed-loop reference module and an engine parameter estimate signal representing an unmeasured engine parameter. ### Claim 6 (depends on 5) The method of claim 5, further comprising determining, by a model-based engine module, using an adaptive engine model, the engine parameter estimate signal based on an actuator signal and the engine state trajectory signal. ### Claim 7 (depends on 6) The method of claim 6, further comprising: tracking, by the model-based engine module, the engine parameter estimate signal and the engine state trajectory signal; and updating, by the model-based engine module, the adaptive engine model based on the tracked engine parameter estimate signal and the engine state trajectory signal. ### Claim 8 (depends on 5) The method of claim 5, wherein the engine parameter estimate signal represents at least one of specific fuel consumption, high pressure turbine entry temperature, compressor surge margin, or thrust. ### Claim 9 (depends on 2) The method of claim 2, wherein the control module is a first control module, the reference control signal is a first reference control signal, the demand setpoint is a first demand setpoint, the adaptation signal is a first adaptation signal, the engine state trajectory signal is a first engine state trajectory signal, further comprising: receiving, by a second control module, from the closed-loop reference module, a second reference control signal, wherein the second reference control signal is based on a second demand setpoint; receiving, by the second control module, from the adaptation module, a second adaptation signal, wherein the adaptation module determines the second adaptation signal based on the difference between a second reference state trajectory signal and a second engine state trajectory signal; receiving, by the second control module, a second engine state trajectory signal; determining, by the second control module, a third demand signal based on the second engine state trajectory signal, the second adaptation signal, and the second reference control signal; and outputting, by the second control module, to the gas turbine engine, the third demand signal to control operation of at least one component of the gas turbine engine, and wherein the selected first demand signal, the second demand signal, or the combination of first and second demand signals, and the third demand signal control different components of the gas turbine engine. ### Claim 10 A system, comprising: a closed-loop reference module configured, by a processor, to determine a reference control signal and determine a reference state trajectory signal, wherein the closed-loop reference module executes a reference model that represents operation of an engine, and wherein the reference control signal represents a measurable, manipulated engine variable associated with the operation of the engine; an adaptation module configured, by the processor, to determine an adaptation signal based on a difference between the reference state trajectory signal and an engine state trajectory signal representative of actual operation of the engine; a control module configured, by the processor, to: receive, from the closed-loop reference module, the reference control signal; receive, from the adaptation module, the adaptation signal; receive the engine state trajectory signal; determine a first demand signal based on the engine state trajectory signal, the adaptation signal, and the reference control signal; and output the first demand signal; and loop selection logic configured, by the processor, to: receive, from the control module, the first demand signal, wherein the first demand signal represents one of steady-state, transient, and limit protection operation; receive a second demand signal, wherein the second demand signal represents another one of steady-state, transient, and limit protection operation; select or combine the first demand signal or the second demand signal, or some combination of first and second demand signals; and output the selected first demand signal, the second demand signal, or the combination of first and second demand signals to control operation of at least one component of the engine. ### Claim 11 (depends on 10) The system of claim 10, wherein the closed-loop reference module comprises: a compensator module configured to determine the reference control signal based on a demand setpoint and the reference state trajectory; and a reference model module configured to determine the reference state trajectory signal based on the reference control signal using the reference model. ### Claim 12 (depends on 11) The system of claim 11, wherein the reference model includes a piecewise-linear engine model, a nonlinear thermodynamic cycle engine model, or any input/output functional form configured to represent engine behavior. ### Claim 13 (depends on 10) The system of claim 10, wherein the adaptation module is further configured to: receive, from a model-based engine module, an engine parameter estimate signal representing an unmeasured engine parameter; receive, from the closed-loop reference module, a reference parameter trajectory signal; and determine the adaptation signal based on the engine parameter estimate signal and the reference parameter trajectory signal. ### Claim 14 (depends on 13) The system of claim 13, further comprising the model-based engine module, wherein the model-based engine module is configured to determine, using an adaptive engine model, the engine parameter estimate signal based on an actuator signal and the engine state trajectory signal. ### Claim 15 (depends on 14) The system of claim 14, wherein the model-based engine module is further configured to: track the engine parameter estimate signal and the engine state trajectory signal; and update the adaptive engine model based on the tracked engine parameter estimate signal and the engine state trajectory signal. ### Claim 16 (depends on 13) The system of claim 13, wherein the engine parameter estimate signal represents at least one of specific fuel consumption, high pressure turbine entry temperature, compressor surge margin, and thrust. ### Claim 17 (depends on 10) The system of claim 10, wherein the control module is a first control module, the reference control signal is a first reference control signal, the demand setpoint is a first demand setpoint, the adaptation signal is a first adaptation signal, the engine state trajectory signal is a first engine state trajectory signal, further comprising a second control module configured to: receive, from the closed-loop reference module, a second reference control signal, wherein the second reference control signal is based on a second demand setpoint; receive, from the adaptation module, a second adaptation signal, wherein the adaptation module is configured to determine the adaptation signal based on the difference between a second reference state trajectory signal and a second engine state trajectory signal; receive a second engine state trajectory signal; determine a third demand signal based on the second engine state trajectory signal, the second adaptation signal, and the second reference control signal; and output, to the gas turbine engine, the third demand signal to control operation of at least one component of the gas turbine engine, and wherein the selected first demand signal, the second demand signal, or some combination of first and second demand signals, and the third demand signal control different components of the gas turbine engine. ### Claim 18 A non-transitory computer-readable storage medium storing instructions that, when executed, cause a processor to: receive a reference control signal, wherein the closed-loop reference module executes a reference model that represents operation of an engine, and wherein the reference control signal represents a measurable, manipulated engine variable associated with the operation of the engine; receive an adaptation signal, wherein the adaptation module determines the adaptation signal based on a difference between a reference state trajectory signal output by the closed-loop reference model and an engine state trajectory signal representative of actual operation of an engine; receive the engine state trajectory signal; determine a first demand signal based on the engine state trajectory signal, the adaptation signal, and the reference control signal; receive the first demand signal, wherein the first demand signal represents one of steady-state, transient, or limit protection operation; receive a second demand signal, wherein the second demand signal represents another one of steady-state, transient, or limit protection operation; select or combine the first demand signal or the second demand signal, or some combination of first and second demand signals; and output, to the engine, the first demand signal, the second demand signal, or the combination of the first and second demand signals, to control operation of at least one component of the engine.