Constrained dynamic inversion control algorithm
AssigneeUnited Technologies Corporation
InventorsJames W. Fuller, Indraneel Das
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Abstract
A method of controlling a multivariable system includes the step of receiving a plurality of sensor signals indicating current conditions of the system and receiving a plurality of commands. The desired dynamic response of the system is then determined based upon the commands and the sensor signals. The problem of controlling the system to achieve the desired dynamic response without violating numerous actuator and physical constraints is then formulated as a quadratic programming problem. By solving the quadratic programming problem, the effector commands are determined and the physical constraints are enforced.
Claims27
A method for controlling a multivariable system including the steps of:
- a) Receiving a plurality of sensor signals indicating current conditions of the system which are periodically sampled;
- b) Receiving a plurality of commands;
- c) Determining a desired change in output of the system for one or more of the next controller samples based upon the commands and sensor signals;
- d) Formulating the problem of determining actuator commands to achieve the change in output by the next, and possibly more future, controller sample(s) as a quadratic programming problem that includes physical limits or constraints of the system.
A multivariable control system comprising:
- A plurality of sensors indicating current conditions of the system;
- A plurality of effectors for changing dynamics of the system in response to effector commands;
- A dynamic feed forward module determining how a system output should change in a subsequent sample period;
- A dynamic model follower comparing desired and actual system responses to adjust an output change command as needed;
- and
- A dynamic inversion module determining the effector commands in order to change the system output based upon the determination by the dynamic feed forward and dynamic model follower modules by formulating a quadratic programming problem to include physical limits of the system.
A computer readable medium storing a computer program, which when executed by a computer performs the steps of:
- a) Receiving a plurality of sensor signals indicating current conditions of the system which are periodically sampled;
- b) Receiving a plurality of commands;
- c) Determining a desired change in output of the system for a next controller sample based upon the commands and sensor signals;
- d) Formulating the problem of determining actuator commands to achieve the change in output by the next controller sample as a quadratic programming problem that includes physical limits or constraints of the system.
Dependencies are inferred from the claim text.