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US 12,111,647 B2Granted
Method and apparatus for estimating disturbance of control system based on input/output data
AssigneeDaegu Gyeongbuk Institute of Science and Technology
InventorsYongsoon Eun, Juseung Lee, Jaeho Lee
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Abstract
Disclosed is an apparatus for estimating disturbance flowing into a control system on the basis of input/output data. The apparatus includes an input unit, and an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (u) from the acquired output data, based on a system model matrix corresponding to an input/output relation model of the control system. Accordingly, efficiency of the apparatus may be improved.
Claims8
A method of estimating disturbance flowing into a control system, based on input/output data;
- the method comprising:
- generating a system model matrix corresponding to an input/output relation model of the control system;
- inputting input data (u) into the control system and acquiring output data;
- estimating the input data (u) from the acquired output data, based on the system model matrix;
- and
- estimating a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter,
- wherein the system model matrix includes two reference sampling matrixes (Up, Uf) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Yp, Yf) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data,
- wherein the estimating of the input data (u) comprises estimating the input data (u), based on [Equation 1] of
- [
- Y
- p
- U
- p
- Y
- f
- ]
-
- g
- =
- [
- y
- ini
- u
- ini
- y
- ]
- and [Equation 2] of Uf·g=û, and
- wherein g denotes a variable derived by [Equation 1], uini denotes an additional input data matrix, yini denotes an additional output data matrix, y denotes acquired output data, and ûdenotes estimated input data.
25 more elements
An apparatus for estimating disturbance flowing into a control system, based on input/output data, the apparatus comprising:
- a generator configured to generate a system model matrix corresponding to an input/output relation model of the control system;
- an input unit;
- and
- an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (u) from the acquired output data, based on the system model matrix,
- wherein the estimator is configured to estimate a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter,
- wherein the system model matrix includes two reference sampling matrixes (Up, Uf) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Yp, Yf) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data,
- wherein the estimator is configured to estimate the input data (u), based on [Equation 3] of
- [
- Y
- p
- U
- p
- Y
- f
- ]
-
- g
- =
- [
- y
- ini
- u
- ini
- y
- ]
- and [Equation 4] of Uf·g=û, and
- wherein g denotes a variable derived by [Equation 3], uini denotes an additional input data matrix, yini denotes an additional output data matrix, y denotes acquired output data, and û denotes estimated input data.
24 more elements
An apparatus for compensating for disturbance flowing into a control system, based on input/output data, the apparatus comprising:
- a generator configured to generate the system model matrix corresponding to an input/output relation model of the control system;
- an input unit;
- an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (a) from the acquired output data, based on the system model matrix corresponding to an input/output relation model of the control system;
- and
- at least one processor,
- wherein the estimator is configured to estimate a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter,
- wherein the processor is configured to control the input unit to reflect subtraction of the estimated disturbance signal in next input data of the control system,
- wherein the system model matrix includes two reference sampling matrixes (Up, Uf) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Yp, Yf) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data,
- wherein the estimator is configured to estimate the input data (u), based on [Equation 5] of
- [
- Y
- p
- U
- p
- Y
- f
- ]
-
- g
- =
- [
- y
- ini
- u
- ini
- y
- ]
- and [Equation 6] of Uf·g=û, and
- wherein g denotes a predetermined variable and is derived by [Equation 5], uini denotes an additional input data matrix, yini denotes an additional output data matrix, y denotes acquired output data, and û denotes estimated input data.
26 more elements
Dependencies are inferred from the claim text.