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US 12,386,321 B2Granted
Adaptive engine for tracking and regulation control using a control law selector and combiner
AssigneeAdvanced Energy Industries, Inc.
InventorChad S. Samuels
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Abstract
An adaptive engine and a method of adaptive control are disclosed. The method comprises receiving an input regressor, where the input regressor comprises a reference signal, a system output measurement, and a control output. The method includes applying one or more estimation laws to the input regressor to estimate two or more sets of estimated model parameter tensors, Θ; receiving two or more possible control signals; generating two or more estimated system outputs; and selecting a control signal from a set comprising at least the first possible control signal and the second possible control signal, or a combination of possible control signals blended from two or more of the sets.
Claims20
An adaptive engine configured to receive a reference waveform and apply a control output, uout_k, to one or more actuators, the adaptive engine comprising:
- a processor;
- a memory storing instructions that, when executed by the processor, cause the adaptive engine to implement:
- an estimation law module configured to receive an input regressor, the input regressor comprising:
- a reference signal, r,
- a system output measurement, ymeas, and
- a control output, uout_k-1, from a previous iteration, and applied to the one or more actuators;
- the estimation law module configured to apply one or more estimation laws to the input regressor to produce two or more estimated model parameter tensors, Θ, for a nonlinear model of the one or more actuators or a power system controlled by the one or more actuators;
- a control law sub-engine comprising a first control law module and a second control law module;
- a control law selector and combiner (CSC) coupled to outputs of the first and second control law modules and configured to receive a possible control signal, uSE_k, for a current iteration from each of the first and second control law modules;
- wherein the nonlinear model is configured to produce two or more estimated system outputs, yest_SE based upon applying from each of the first and second control law modules:
- (1) a previous iteration of a possible control signal, USE_k-1, or (2) the possible control signal uSE_k, to the nonlinear model;
- and
- wherein the CSC is configured to provide one of, or a combination of, (1) the possible control signal, USE_k, for the current iteration from the first control law module and (2) the possible control signal, USE_k, for the current iteration from the second control law module, to a selector module based at least in part on an estimation or prediction error derived from each of the estimated system outputs, yest_SE, and wherein the selector module computes the control output, uout_k, applied to the one or more actuators.
10 more elements
A method of adaptive control for applying a control output, uout_k, to one or more actuators, the method comprising:
- receiving an input regressor, the input regressor comprising:
- a reference signal, r,
- a system output measurement, ymeas, and
- a control output, uout_k-1, from a previous iteration, and applied to the one or more actuators;
- applying one or more estimation laws to the input regressor to estimate two or more estimated model parameter tensors, Θ, for a nonlinear model of the one or more actuators or a power system controlled by the one or more actuators, wherein the nonlinear model is a function of the two or more estimated model parameter tensors, Θ, and wherein each of the two or more estimated model parameter tensors, Θ, comprises estimated parameters of the nonlinear model;
- receiving, for a current iteration, two or more possible control signals, USE_k, each of the two or more possible control signals, USE_k, received using a corresponding control portion of the nonlinear model, and wherein each control portion is a function of one of the two or more estimated model parameter tensors, Θ, of the nonlinear model;
- generating two or more estimated system outputs, Y est_SE, each of the two or more estimated system outputs, yest_SE, generated using a corresponding estimation portion of the nonlinear model, and wherein each estimation portion of the nonlinear model is a function of one of the two or more estimated model parameter tensors, Θ;
- and
- computing the control output, uout_k, applied to the one or more actuators, wherein computing the control output, uout_k, comprises:
- selecting one of, or a combination of, the two or more possible control signals, USE_k, as the control output, uout_k, wherein the selecting is based at least in part on an estimation or prediction error derived from each of the two or more estimated system outputs, yest_SE.
7 more elements
A non-transient computer-readable storage medium having instructions embodied thereon, the instructions being executable by one or more processors to perform a method for adaptive control for applying a control output, uout_k, to one or more actuators, the method comprising:
- receiving an input regressor, the input regressor comprising:
- a reference signal, r,
- a system output measurement, ymeas, and
- a control output, uout_k-1, from a previous iteration, and applied to the one or more actuators;
- applying one or more estimation laws to the input regressor to estimate two or more estimated model parameter tensors, Θ, for a nonlinear model of the one or more actuators or a power system controlled by the one or more actuators, wherein the nonlinear model is a function of the two or more estimated model parameter tensors, Θ, and wherein each of the two or more estimated model parameter tensors, Θ, comprises estimated parameters of the nonlinear model;
- receiving, for a current iteration, two or more possible control signals, USE_k, each of the two or more possible control signals, USE_k, received using a corresponding control portion of the nonlinear model, and wherein each control portion is a function of one of the two or more estimated parameter tensors, Θ, of the nonlinear model;
- generating two or more estimated system outputs, yest_SE, each of the two or more estimated system outputs, yest_SE, generated using a corresponding estimation portion of the nonlinear model, and wherein each estimation portion of the nonlinear model is a function of one of the two or more estimated model parameter tensors, Θ;
- and
- computing the control output, uout_k, applied to the one or more actuators, wherein computing the control output, uout_k, comprises:
- selecting one of, or a combination of, the two or more possible control signals, USE_k, as the control output, uout_k, wherein the selecting is based at least in part on an estimation or prediction error derived from each of the two or more estimated system outputs, yest_SE.
7 more elements
Dependencies are inferred from the claim text.