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Control device and control method

A technology of control device and predetermined control, which is applied in the direction of control device, electrical control, electrical device, etc., and can solve problems such as discrete

Inactive Publication Date: 2020-03-10
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this case, the control of the system will be performed discretely according to the period of the clock driving the processor

Method used

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  • Control device and control method
  • Control device and control method
  • Control device and control method

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Embodiment Construction

[0029]Hereinafter, a control device for a power unit mounted on a vehicle will be described with reference to the drawings. The control device controls a power unit mounted on a vehicle in accordance with a solution to a robust CBF nonlinear problem (CBF-NLP). A power unit is an example of a system whose internal state changes over time. At this time, the control device considers the internal state of the power unit with respect to the internal state x of the power unit with respect to the constraint condition B(x)≧0 in the invariant set that satisfies the predetermined state constraints, according to the predetermined control cycle The contribution of the disturbance to the transition determines the actual control input to the power unit. Also, the internal state indicates the behavior of the system to be controlled.

[0030] First, the conditions related to the estimation of the disturbance and the calculation of the control input for becoming robust against the disturbanc...

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Abstract

The invention relates to a control device and a control method. The control device includes a processor configured to: calculate an estimated value of a contribution of a disturbance in a transition of an internal state of a dynamic power unit, based on a last internal state and a last control input by which the internal state is controlled; determine the control input so as to minimize a difference from a reference value of the control input by which the internal state becomes a predetermined internal state, under a condition that a sum of the estimated value of the contribution and a value of the constraint condition expression when there is not the disturbance at the current time is equal to or more than a value resulting from reducing a last value of the constraint condition expressionby a predetermined ratio; and control the dynamic power unit in accordance with the determined control input.

Description

technical field [0001] The present invention relates to a control device and a control method for controlling a power unit mounted on a vehicle, and a control device for a system in which an internal state changes over time. Background technique [0002] When controlling a system, such as a power unit of a vehicle, whose internal state changes over time, it is required to satisfy state constraints (constraints) related to the internal state of the system in order for the system to operate safely. Therefore, as one of the control methods considering such state constraints, a control method called CLF-CBF-QP (Control LyapunovFunction-Control Barrier Function-Quadratic Programming, Control Lyapunov Function-Control Barrier Function-Quadratic Programming )Methods. The method combines an exponentially stabilizing control Lyapunov function (ES-CLF) constraint to zero the defined output function, and a control barrier function (CBF) to keep the internal state within the invariant ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F02D41/00F02D41/24B60L15/20
CPCB60L15/20B60L2220/20B60L2240/421B60L2240/423B60L2240/427B60L2240/429F02D41/0002F02D41/2429G06F17/10Y02T10/64Y02T10/72B60W10/06B60W10/08B60W2510/0671B60W2510/0676B60W2510/081B60W2710/0683B60W2710/0688B60W2710/081B60W20/15F02D45/00B60L15/04F02D41/1498G01L23/225G05B13/041
Inventor 佐多宏太山北昌毅高野凛大山博之
Owner TOYOTA JIDOSHA KK