Online integration of model-based optimization and model-less control
AssigneeRockwell Automation Technologies, Inc.
InventorsBijan Sayyarrodsari, Kadir Liano, Alexander B. Smith
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Abstract
In certain embodiments, a control system includes a model-less controller configured to control operation of a plant or process. The control system also includes an automation controller operatively connected for access to a model of the plant or process being controlled by the model-less controller. The automation controller is configured to modify parameters of the model-less controller via an explicit optimization procedure.
Claims16
A control system, comprising:
- a model-less controller configured to control operation of a plant or process by determining a variable input to the plant or process using parameters of the model-less controller, wherein the model-less controller comprises a proportional-integral-derivative (PID) controller and the parameters of the model-less controller comprise a proportional matrix coefficient, an integral matrix coefficient, and a derivative matrix coefficient;
- and
- an automation controller operatively configured to:
- access a model of the plant or process;
- and
- determine a dynamic trajectory of each of the parameters of the model-less controller over a prediction horizon via an explicit optimization procedure in the automation controller based at least in part on the model of the plant or process.
A computer-implemented method, comprising:
- receiving a variable input to a plant or process being controlled by a model-less controller, wherein the model-less controller comprises a proportional-integral-derivative (PID) controller and a parameter of the model-less controller comprise a proportional matrix coefficient, an integral matrix coefficient, or a derivative matrix coefficient;
- determining a variable output from the plant or process using a model of the plant or process based at least in part on the variable input;
- and
- determining a dynamic trajectory of the parameter of the model-less controller over a prediction horizon via an explicit optimization procedure based at least in part on the variable input and the variable output, wherein the model-less controller is configured to control operation of the plant or process by determining the variable input based at least in part on the dynamic trajectory of the parameter over the prediction horizon.
A tangible, non-transitory, computer readable medium configured to store instructions executable by a processor, wherein the instructions comprise instructions to:
- parameterize, using the processor, a model-less controller into a plurality of parameters, wherein the model-less controller is configured to determine a variable input to a plant or process, the model-less controller comprises a proportional-integral-derivative (PID) controller, and the plurality of parameters comprises a proportional matrix coefficient, an integral matrix coefficient, and a derivative matrix coefficient;
- determine, using the processor, a dynamic trajectory of each of the plurality of parameters over a prediction horizon via an explicit optimization procedure based at least in part on a model of the plant or process;
- and
- control, using the processor, operation of the plant or process by determining the variable input to the plant or process based at least in part on the dynamic trajectory of each of the plurality of parameters.
Dependencies are inferred from the claim text.