JP7327240B2 - Parameter adjuster - Google Patents

Description

The present invention relates to a parameter adjuster for adjusting parameters of a feedback control system.

A feedback control system has been conventionally employed as a control method for controlling a controlled object. A controller in the feedback control system performs PID (Proportional Integral Differential) control, for example.
By the way, when controlling a controlled object, it may be affected by disturbance. Therefore, in the above feedback control system, a method of estimating and compensating the disturbance using a disturbance compensator is used.

WO2014/84098

The parameters of the disturbance compensator described above are adjusted through trial and error, requiring a great deal of work time and labor. Moreover, in the above adjustment, it is difficult to obtain the parameters of the disturbance compensator with high accuracy.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to quickly and accurately determine the parameters of a feedback control system including a disturbance compensator.

In one aspect of the present invention, a controller, a controlled object whose input is the output of the controller, a disturbance compensator for compensating the input disturbance of the controlled object, and transmission of a target value and a reference response A control system in which the output of the controlled object is fed back to the input of the controller, wherein the controller parameter is a parameter of the controller and the compensator parameter is a parameter of the disturbance compensator. Data for setting the value of the disturbance to a predetermined value and acquiring first output data that is the output of the controller and second output data that is the output of the controlled object an acquisition unit; third output data that is an output of the reference model when an input signal to be input to the controller estimated based on the first output data and the second output data is input to the reference model; a first parameter calculator that calculates the controller parameter based on an evaluation value of an evaluation function relating to an error with the second output data; and applying the controller parameter calculated by the first parameter calculator to the evaluation function. and a second parameter calculator for obtaining the compensator parameter.

Further, the disturbance compensator includes an inverse model of the controlled object, and the second parameter calculation unit applies the obtained controller parameter to the evaluation function, and uses the inverse model parameter as the compensator parameter. may be requested.

Further, the data acquisition unit may set the value of the disturbance to 0 and acquire the first output data and the second output data. The data acquisition unit may acquire the first output data and the second output data by setting the value of the disturbance to a known value in which the disturbance is compensated.

Further, the evaluation function is a sum of squares of errors between the second output data and the third output data, and the second parameter calculation unit minimizes the evaluation value of the evaluation function, Compensator parameters may also be determined.

ADVANTAGE OF THE INVENTION According to this invention, it is effective in being able to obtain|require the parameter of a feedback control system containing a disturbance compensator rapidly and accurately.

1 is a schematic diagram for explaining the configuration of a control system 100 according to one embodiment; FIG. 3 is a schematic diagram for explaining the configuration of a disturbance compensator 106; FIG. 1 is a schematic diagram showing an example of a configuration of a parameter adjustment device 1 according to one embodiment; FIG. 4 is a flowchart for explaining the flow of processing executed by the parameter adjustment device 1;

<Adjustment of control system parameters>
A configuration of a control system according to one embodiment of the present invention will be described with reference to FIG.

FIG. 1 is a schematic diagram for explaining the configuration of a control system 100 according to one embodiment. The control system 100 has a controller 102, a controlled object 104, a disturbance compensator 106, and a reference model 108, as shown in FIG. Control system 100 is here a feedback control system, where the output of controlled object 104 is fed back to the input of controller 102 .

The controller 102 is represented by a function whose arguments are parameters used for control (hereinafter referred to as controller parameters). Controller parameters are adjustable.

The output of the controller 102 is input to the controlled object 104 as an input. In the control system 100 having the disturbance compensator 106, an input u, which is the sum of the output of the controller 102 and the output of the disturbance compensator 106, is input to the controlled object 104 as a controlled variable. Also, the output to be controlled is the output y.

The disturbance compensator 106 estimates and compensates for the input disturbance d of the controlled object 104 . A disturbance compensator 106 outputs an estimated value of the disturbance d. The disturbance compensator 106 is represented by a function whose argument is a parameter used for estimating the disturbance d (hereinafter referred to as a compensator parameter). Compensator parameters are also adjustable.

FIG. 2 is a schematic diagram for explaining the configuration of the disturbance compensator 106. As shown in FIG. The disturbance compensator 106 includes an inverse model 106a and a filter 106b. The inverse model 106a is an inverse model of the controlled object 104 and is a nominal model. Filter 106b is, for example, a low-pass filter.

A reference model 108 is a transfer function between a target value and a reference response, and an input signal to be input to the controlled object 104 is input. The control system 100 controls the output y of the controlled object 104 and the output of the reference model 108 to match.

The control system 100 applies FRIT (Fictitious Reference Iterative Tuning), which is data-driven control, and automatically adjusts controller parameters and compensator parameters from the input/output data of the controlled object 104 and the reference model 108 . Specifically, the parameters are adjusted as follows.

First, using the input u and output y of the controlled object 104 and the reference model 108, controller parameters are obtained. Assume here that the value of the disturbance is 0 or known. In the case of known values, disturbances are compensated.

式（１）において、θは、制御器パラメータである。ｋは、１以上の整数であり、ｕ又はｙのサンプリング番号を示す指標である。ｕ（ｋ）及びｙ（ｋ）は、予め計測した１組の入出力データである。 From FIG. 1, the input signal r input to the controller 102 is given by the following equation (1).

In equation (1), θ is a controller parameter. k is an integer of 1 or more and an index indicating the sampling number of u or y. u(k) and y(k) are a set of input/output data measured in advance.

式（２）の評価関数Ｊにおいて、制御器パラメータθは、制御対象１０４の出力ｙ（ｋ）と参照モデルＴ_ｄの出力（Ｔ_ｄ×ｒ（θ、ｋ））との２乗誤差を最小化するものを意味し、制御器１０２の最適なパラメータである。 Also, the evaluation function J regarding the error between the general feedback control response and the target response obtained from the reference model 108 and the input signal r is given by the following equation (2).

In the evaluation function J of formula (2), the controller parameter θ minimizes the square error between the output y(k) of the controlled object 104 and the output (T _d ×r(θ, k)) of the reference model T _d . is the optimum parameter of the controller 102 .

式（３）において、Ｐｍは、外乱補償器１０６の逆モデル１０６ａのパラメータをもつ関数である。 The controller parameters obtained as described above are applied to the evaluation function to obtain compensator parameters. Specifically, the parameters of the inverse model 106a of the disturbance compensator are obtained as the compensator parameters using the following equation (3).

In equation (3), Pm is a function with parameters of the inverse model 106 a of the disturbance compensator 106 .

式（４）において、Ｆは、フィルタ１０６ｂのパラメータをもつ関数である。 Note that the input r in Equation (3) is expressed as in Equation (4) below.

In equation (4), F is a function with the parameters of filter 106b.

The compensator parameter (specifically, the parameter of the inverse model 106a) obtained by Equation (3) also means that the square error between the output of the controlled object 104 and the output of the reference model in the evaluation function J is minimized. , are the optimum parameters of the disturbance compensator 106 .

The control system 100 described above can be used as a system for controlling a controlled object mounted on a vehicle such as a truck. For example, it can be used for coordinated control of EGR (Exhaust Gas Recirculation) and VNT (Variable Nozzle Turbo) in order to cause the boost pressure and intake fresh air amount of a diesel engine to follow target values. It can also be used for clutch shift control.

<Configuration of parameter adjustment device>
A configuration of a parameter adjusting device for adjusting the controller parameters of the controller 102 of the control system 100 and the compensator parameters of the disturbance compensator 106 will be described with reference to FIG.

FIG. 3 is a schematic diagram showing an example of the configuration of the parameter adjustment device 1 according to one embodiment. The parameter adjustment device 1 has a storage section 20 and a control section 30 as shown in FIG.

The storage unit 20 includes a ROM (Read Only Memory) for storing computer BIOS (Basic Input Output System) and the like, and a RAM (Random Access Memory) that serves as a work area. The storage unit 20 is a large-capacity storage device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores an OS (Operating System), an application program, and various information referred to when the application program is executed. is.

The control unit 30 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The control unit 30 functions as a data acquisition unit 32 , a first parameter calculation unit 34 and a second parameter calculation unit 36 by executing programs stored in the storage unit 20 .

The data acquisition unit 32 acquires first output data that is the output of the controller 102 . The data acquisition unit 32 also acquires second output data, which is the output of the controlled object 104 . In the present embodiment, in order to obtain the controller parameter of the controller 102, the data acquisition unit 32 sets the value of the disturbance to a predetermined value, the first output data of the controller 102 and the second output data of the controlled object 104. Get data and

For example, the data acquisition unit 32 sets the value of the disturbance to 0, and acquires first output data (specifically, input u) and second output data (specifically, output y). Thereby, the controller parameters of the controller 102 can be obtained in a state where the controlled object 104 is not affected by the disturbance.

The first parameter calculator 34 obtains controller parameters of the controller 102 based on the first output data and the second output data. The first parameter calculator 34 obtains an evaluation function based on the first output data and the second output data to obtain controller parameters, as described in the following procedure.

The first parameter calculator 34 estimates an input signal to be input to the controller 102 based on the first output data (input u) and the second output data (output y). For example, the first parameter calculator 34 estimates the input signal r expressed by the above-described equation (1).

The first parameter calculator 34 obtains third output data, which is the output of the reference model 108 (FIG. 1) when the estimated input signal is input to the reference model 108 . Then, the first parameter calculator 34 obtains an evaluation function regarding the error between the obtained third output data and the second output data. For example, the first parameter calculator 34 obtains the FRIT evaluation function shown in the above-described equation (2).

The first parameter calculator 34 obtains the controller parameter of the controller 102 based on the obtained evaluation value of the evaluation function. Specifically, the first parameter calculator 34 obtains controller parameters of the controller 102 so as to minimize the evaluation value of the evaluation function. As a result, the controller parameters can be adjusted to have excellent target value response characteristics.

A second parameter calculator 36 obtains compensator parameters of the disturbance compensator 106 . In this embodiment, the second parameter calculator 36 applies the controller parameters calculated by the first parameter calculator 34 to the evaluation function to obtain compensator parameters. Specifically, the second parameter calculation unit 36 applies the controller parameters obtained by the first parameter calculation unit 34 to the evaluation function to obtain the parameters of the inverse model 106a as the compensator parameters. The evaluation function is the sum of squares of errors between the second output data and the third output data.

For example, the second parameter calculator 36 obtains the compensator parameters using the FRIT evaluation function shown in the above-described equation (3). That is, the second parameter calculator 36 obtains the compensator parameter so as to minimize the evaluation value of the evaluation function. As a result, the compensator parameters can be adjusted to have excellent disturbance compensation characteristics.

<Flow of parameter adjustment>
A flow of parameter adjustment will be described with reference to FIG.
FIG. 4 is a flowchart for explaining the flow of processing executed by the parameter adjustment device 1. FIG.

The flow chart of FIG. 4 starts from the input of the target value to the control system 100 . First, the data acquisition unit 32 of the control unit 30 acquires first output data, which is the output of the controller 102 (step S102). The data acquisition unit 32 also acquires the second output data, which is the output of the controlled object 104 (step S104). For example, the data acquisition unit 32 acquires the first output data (input u) and the second output data (output y) with the value of the disturbance d set to 0.

Next, the first parameter calculator 34 obtains controller parameters of the controller 102 (step S106). For example, the first parameter calculator 34 obtains the controller parameter using the evaluation function of formula (2) described above.

Next, the second parameter calculator 36 obtains compensator parameters of the disturbance compensator 106 (step S108). The second parameter calculator 36 applies the obtained controller parameter to the evaluation function to obtain the compensator parameter. For example, the second parameter calculator 36 obtains the parameters of the inverse model 106a of the disturbance compensator 106 as the compensator parameters, using the evaluation function of Equation (3) described above.

Next, the parameter adjustment device 1 confirms the performance of the controller 102 and the disturbance compensator 106 reflecting the obtained parameters (step S110). That is, when the parameter adjustment device 1 inputs the target value and the disturbance to the control system 100 of the controller parameters and the compensator parameters obtained in steps S106 and S108, the output of the controlled object 104 matches the reference response. Make sure it matches. Thereby, the performance of the controller 102 and the disturbance compensator 106 to which the obtained controller parameters and compensator parameters are applied can be appropriately evaluated.

<Effects of this embodiment>
In the above-described embodiment, the parameter adjustment device 1, in the control system 100 having the disturbance compensator 106, controls the controller 102 based on the evaluation value of the evaluation function using one set of input/output data and the reference model. Find parameters. Also, the parameter adjusting device 1 applies the obtained controller parameters to the evaluation function to obtain the compensator parameters of the disturbance compensator 106 .
This allows the controller and compensator parameters to be adjusted using a set of input and output data of the controlled object 104 without identifying the system. In other words, controller parameters and compensator parameters can be obtained quickly and accurately without repeating trial and error. As a result, it is possible to design the control system 100 with excellent target value response characteristics and disturbance compensation characteristics.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. be. For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

1 Parameter Adjustment Device 32 Data Acquisition Section 34 First Parameter Calculation Section 36 Second Parameter Calculation Section 100 Control System 102 Controller 104 Controlled Object 106 Disturbance Compensator 108 Reference Model

Claims (3)

A controller, a controlled object whose input is the output of the controller, a disturbance compensator for compensating for disturbance of the input of the controlled object, and a reference model that is a transfer function of a target value and a reference response, In a control system in which the output of the controlled object is fed back to the input of the controller, a parameter adjusting device for obtaining a controller parameter that is a parameter of the controller and a compensator parameter that is a parameter of the disturbance compensator, ,
a data acquisition unit that sets the value of the disturbance to 0 and acquires first output data that is the output of the controller and second output data that is the output of the controlled object;
A third input signal that is the output of the reference model when the first input signal to be input to the controller determined by the first output data and the second output data that is fed back to the controller is input to the reference model. a first parameter calculator that calculates the controller parameter based on an evaluation value of a first evaluation function relating to an error between the output data and the second output data;
When a second input signal to be input to the controller obtained by the first output data, the second output data fed back to the controller, and the output data of the disturbance compensator is input to the reference model Applying the controller parameter obtained by the first parameter calculator to a second evaluation function relating to the error between the fourth output data, which is the output of the reference model, and the second output data, the compensator parameter a second parameter calculation unit for obtaining
A parameter adjuster. The disturbance compensator includes an inverse model of the controlled object,
The second parameter calculation unit applies the obtained controller parameter to the second evaluation function to obtain the parameter of the inverse model as the compensator parameter.
The parameter adjusting device according to claim 1. the second evaluation function is a sum of squares of errors between the second output data and the fourth output data;
The second parameter calculation unit obtains the compensator parameter so as to minimize the evaluation value of the second evaluation function,
The parameter adjustment device according to claim 1 or 2 .

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