Control device and control system

Abstract

This invention discloses a control device and a control system. The control device (PCM (100)) controls a car (C) comprising multiple units (20). The control device includes a model control unit (13), a unit determination unit (performance change judgment unit (10a)), and a target value correction unit (FF update unit (10b)). The model control unit (13) generates target values ​​for the characteristics that each unit should achieve based on a model set corresponding to each unit among the multiple units. The unit determination unit determines units among the multiple units whose inherent performance has changed. For the units determined by the unit determination unit, the target value correction unit corrects the target values. In the control device for controlling a device comprising multiple units, the performance of the device is kept constant.

Description

Technical Field

[0001] This disclosure relates to a control device for controlling a device comprising multiple units and a control system composed of multiple devices. Background Technology

[0002] For example, Non-Patent Document 1 discloses a development method that combines so-called Model Based Development (MBD) with Database-Driven (DD) control system design. Specifically, Non-Patent Document 1 discloses a method for adjusting adjustable parameters of a modeled system through a database mechanism as an example of a design method for achieving desired system performance.

[0003] Non-Patent Literature 1: Toru Yamamoto, “Intelligent MBD (S-MBD) Method Based on Control Engineering Perspective – Proposal for a New Development Platform –” Journal of Electrical Engineering, C, Control Research Association of the Electronics, Information and Systems Sector, June 29, 2019, CT19099, pp. 25-26 Summary of the Invention

[0004] -The technical problem the invention aims to solve-

[0005] The inventors of this application conceived of applying the model-based design method described in Non-Patent Document 1 to various system controls, using systems such as automobile hybrid systems and steering systems that include multiple units (e.g., engines and electric motors) as control objects (devices).

[0006] It is generally believed that the performance of the aforementioned devices will change due to aging and other factors over time. In order to maintain a consistent device performance, the inventors of this application explored a mechanism that can spontaneously compensate for changes in performance by appropriately modifying the configuration of the model corresponding to the device or the output value of the model. At this point, the inventors of this application conceived of this disclosure, considering that each device comprises multiple units.

[0007] This disclosure was made to solve the above-mentioned technical problems, and its purpose is to maintain the performance of the equipment in a control device for controlling a device comprising multiple units.

[0008] - Technical solutions for solving technical problems -

[0009] Specifically, a first aspect of this disclosure relates to a control device for controlling a device comprising multiple units. The control device includes a model control unit, a unit determination unit, and a target value correction unit. The model control unit generates target values ​​for characteristics that each unit should achieve based on a model set corresponding to each of the multiple units. The unit determination unit determines units among the multiple units whose inherent performance has changed. For the units determined by the unit determination unit, the target value correction unit corrects the target values.

[0010] According to the first aspect, for the unit determined by the unit determination unit among multiple units, that is, for the unit whose inherent performance is judged to have changed, the target value correction unit performs target value correction. In this way, the performance of the equipment is spontaneously compensated and can be kept constant. Furthermore, compensation is performed on a unit-by-unit basis, rather than on a unit-by-unit basis, thereby suppressing changes in the control mode of other units as much as possible while achieving performance compensation.

[0011] According to the second aspect of the disclosure, the control device may include a plurality of characteristic estimation units and a device operation estimation unit. The plurality of characteristic estimation units are provided in correspondence with each of the plurality of units, and the plurality of characteristic estimation units estimate the characteristics implemented by each unit. The device operation estimation unit estimates the device output based on the characteristics estimated by each of the plurality of characteristic estimation units. The target value correction unit corrects the target value so that the device output achieves the desired device output.

[0012] Here, the term "device output" refers to the output of various devices, such as vehicle speed, when a car is used as a device.

[0013] According to the second aspect, the target value correction unit corrects the target value of the characteristic that the correction unit should achieve, thereby achieving the desired device output through this target value. In this way, by adjusting the device output through compensation on a unit-by-unit basis, it is possible to both suppress changes in the control mode of other units and achieve adjustment of the device output.

[0014] According to the disclosure of the third aspect, the plurality of units may include a first unit and a second unit, wherein the first unit facilitates the increase or decrease of a specified device output, and the second unit facilitates the increase or decrease of the specified device output. When the unit determining unit determines that the performance of one of the first unit and the second unit has changed, the model control unit increases or decreases the target value of the other of the first unit and the second unit in order to compensate for the change accordingly.

[0015] According to the third aspect, for example, if the performance of the first unit changes irreversibly and significantly, the desired device output can be achieved by increasing or decreasing the target values ​​of the other second units. In this way, by having the other units spontaneously compensate for performance changes, it is beneficial to maintain a constant device performance.

[0016] According to the fourth aspect of the disclosure, the target value correction unit can correct the target value by modifying the model corresponding to the unit determined by the unit determination unit.

[0017] According to the fourth aspect, by modifying the model corresponding to the unit whose performance has changed, the performance change of the unit is compensated, thereby helping to maintain a certain level of device performance.

[0018] According to the disclosure of the fifth aspect, the control device may include a plurality of feedback units corresponding to each of the plurality of units, the plurality of feedback units generating feedback signals based on output signals from the units corresponding to each feedback unit, the feedback signals correcting the output signals of the model control unit in a manner that compensates for the difference between the actual realized characteristic of the unit and the target value, the feedback units adjusting FB feature quantities based on the output signals from the units, thereby correcting the output signals, the FB feature quantities representing either the feedback signals or FB parameters, the FB parameters representing coefficients that contribute to the increase or decrease of the feedback signals.

[0019] According to the fifth aspect, model-based feedforward control and feedback control are combined. This helps to maintain a certain level of equipment performance.

[0020] According to the disclosure of the sixth aspect, the feedback section inputs the FB feature values ​​into the unit determination section, the unit determination section determines the change in the inherent performance of the unit based on the change in the FB feature values ​​in each unit, and the target value correction section corrects the model based on the change in the FB feature values ​​in each unit.

[0021] According to the sixth aspect, the model is modified based on the changes in the FB feature values. This helps to maintain a certain level of device performance.

[0022] According to the disclosure in the seventh aspect, it is possible that when the moving average of the FB feature is less than a predetermined threshold, the target value correction unit corrects the target value by adjusting the FB feature; and when the moving average of the FB feature is above the predetermined threshold, the target value correction unit corrects the target value by correcting the model.

[0023] According to the seventh aspect, for temporary or irreversible performance changes, if the change is relatively small, the target value is corrected through feedback control. On the other hand, for irreversible performance changes, if the change is relatively large, the target value is corrected through a correction model. In this way, by using two different correction methods, more flexible control is achieved, which helps to maintain a certain level of equipment performance.

[0024] According to the disclosure of the eighth aspect, the control device may include a measurement unit that detects a measurement signal representing the operating environment of the device, and a unit determination unit that determines changes in the inherent performance of the unit based on the measurement signal from the measurement unit and the FB characteristic quantity.

[0025] According to the eighth aspect, control can be implemented that links the performance variations of the units to the operating environment of the equipment. This allows for more appropriate compensation of the performance of each unit.

[0026] According to the disclosure of the ninth aspect, the control device may include a mapping generation unit that stores the operating environment of the device, the FB feature quantity, and the FF parameter accordingly. The FF parameter is a parameter characterizing the model. The target value correction unit compares the detection signal of the measurement unit and the FB feature quantity with the FF parameter corresponding to the FB feature quantity.

[0027] According to the ninth aspect, control can be implemented that links changes in unit performance, the operating environment of the equipment, and information related to model correction. This allows for more appropriate compensation of the performance of each unit.

[0028] According to the disclosure of the tenth aspect, the mapping generation unit may update the relationship between the operating environment of the device, the FB feature quantity, and the FF parameter in real time during the operation of the device.

[0029] According to the tenth aspect, knowledge can be obtained that correlates changes in unit performance, the operating environment of the device, and information related to model modifications. This facilitates the spontaneous updating of the device.

[0030] According to the eleventh aspect of the disclosure, when there are multiple units determined by the unit determination unit, the timing of the correction reflecting the target value is adjusted so that the timing of the correction reflecting the target value in each unit is approximately the same.

[0031] According to the eleventh aspect, by making the time for correcting the target value as close to the same time as possible, the generation of unexpected device outputs is suppressed, thereby helping to maintain a certain level of device performance.

[0032] According to the disclosure of the twelfth aspect, the device may be an automobile, and among the plurality of said units, one or more of the following may be included: an engine and an electric motor that output torque for driving the automobile, a braking unit for braking the automobile, and a steering system for manipulating the steering of the automobile.

[0033] The thirteenth aspect of the disclosure relates to a control system comprising multiple devices controlled by a control device. In this control system, each of the multiple devices includes multiple units, and the determination result of the unit determination unit of any one of the multiple devices is shared with the other devices.

[0034] According to the thirteenth aspect, information related to changes in unit performance can be shared between devices. In this way, by sharing the knowledge obtained by the unit determination unit between devices, more spontaneous control can be achieved.

[0035] According to the disclosure of the fourteenth aspect, at least a portion of the control device may be installed on an external server, and multiple devices may communicate with each other through the external server.

[0036] According to the fourteenth aspect, information related to changes in unit performance can be sent and received between devices via an external server. In this way, by sharing the knowledge obtained by the unit determination unit between devices, more spontaneous control can be achieved.

[0037] -The effects of the invention-

[0038] As explained above, according to this disclosure, in a control device for controlling an equipment comprising multiple units, it is possible to maintain a certain performance of the equipment. Attached Figure Description

[0039] Figure 1 This is a diagram illustrating the overall configuration of the control system;

[0040] Figure 2 This is a diagram illustrating the configuration of various devices in a control system;

[0041] Figure 3 This is a diagram illustrating, exemplarily, the configuration of the control devices for each device;

[0042] Figure 4 It is a diagram used to illustrate the control device's control over the equipment;

[0043] Figure 5 It is a diagram used to illustrate the estimation of element characteristics by the characteristic estimation section;

[0044] Figure 6This is a diagram used to illustrate the feedback control of the feedback unit on the characteristics of the unit;

[0045] Figure 7 This is a flowchart illustrating, by way of example, the main parts of the control performed by the control device;

[0046] Figure 8 This is a flowchart illustrating, exemplarily, the main parts of the steps for correcting the target value;

[0047] Figure 9 It is a diagram used to illustrate the functional allocation when controlling equipment;

[0048] Figure 10 It is a graph illustrating the change in unit performance over time;

[0049] Figure 11 This is a diagram used to illustrate collaboration with external servers;

[0050] Figure 12 It is a diagram used to illustrate the cooperation between devices in a control system;

[0051] Figure 13 It is a diagram used to illustrate the collaboration between equipment and the factory.

[0052] - Symbol Explanation -

[0053] S – Control system; C – Vehicle (equipment); Cs – External server; 201 – Engine (first unit); 202 – Electric motor (second unit); 203 – Braking unit (third unit); 20 N - Steering unit (Nth unit); 100 - PCM (control device); 10 - Characteristic estimation unit; 10a - Performance change judgment unit (unit determination unit); 10b - FF update unit (target value correction unit); 10c - Unit characteristic estimation unit; 10d - Mapping generation unit; 11 - Equipment action estimation unit; 12 - Equipment action target generation unit; 13 - Model control unit; 14 - Feedback unit; SW1 - External temperature sensor (measurement unit). Detailed Implementation

[0054] The embodiments of this disclosure are described below. It should be noted that the following description is merely an example.

[0055] In other words, this specification describes a car, including an engine, an electric motor, etc., as an example of a device comprising multiple units, but the technology disclosed herein is not limited to automobiles. This disclosure can be applied to various mechanical systems comprising multiple units.

[0056] In particular, this specification cites the engine, electric motor, brake, and steering unit used for driving a car as examples of units included in the equipment, but the units involved in this disclosure include various units related to the use of the equipment. Elements other than mechanical units such as the car driver can also be considered as units.

[0057] In this specification, a PCM mounted in a vehicle is described as an example of a control device for the equipment; however, the control devices involved in this disclosure are not limited to modules mounted on the equipment. The control devices involved in this disclosure include various devices such as external servers that can be connected to the equipment via wired or wireless means. As described in the variations below, it is also possible to implement a portion of the control device using a PCM, while implementing other parts of the control device using an external server.

[0058] <Overall Composition>

[0059] Figure 1 This is a diagram illustrating the overall configuration of the control system S as an example. Figure 2 This is an exemplary diagram showing the configuration of the various devices (vehicle C) in the control system S. For example... Figure 1 As shown, the control system S involved in this embodiment consists of multiple vehicles (n vehicles in the example) C1 to C2. n Composition. Multiple cars C1 to C n These are exemplary examples of the "device" in this embodiment. Hereinafter, without specifying a particular automobile, it will simply be referred to as "Automobile C".

[0060] Multiple cars C1 to C n Vehicles C connect to each other via an external server Cs. The external server Cs transmit and receive signals between vehicles C and other vehicles C. It should be noted that the external server Cs are not mandatory. Communication between vehicles C can also be configured without an external server Cs.

[0061] like Figure 2 As shown, each car C includes multiple (N in the illustration) units 201 to 2020. N Specifically, each vehicle C includes a first unit 201 consisting of an engine, a second unit 202 consisting of an electric motor, a third unit 203 consisting of a braking unit, and an Nth unit 20 consisting of a steering system. N And the other N – four units 204-20 N－1 The first unit 201, consisting of an engine, and the second unit 202, consisting of an electric motor, each output torque to drive the vehicle C. The third unit 203, consisting of a braking unit, brakes the vehicle C. The Nth unit 20... N Steering the car C. (Unit 1, page 201 to Unit N, page 20)N These are exemplary examples of the "units" in this embodiment. Hereinafter, without limiting to any specific unit, it will simply be referred to as "unit 20". The aforementioned unit 20 constitutes the hardware system of the vehicle C.

[0062] Each unit 20 is selected from elements that control the movement of the vehicle C. It should be noted that the movement of the vehicle C mentioned here includes any index related to the dynamic movement of the vehicle C.

[0063] Generally speaking, "equipment action" refers to the output value controlled by the PCM100, i.e., the various equipment outputs. As will be explained later, in the case of model predictive control by the PCM100, the equipment action is equivalent to: the equipment output controlled in a manner that follows a predetermined setpoint trajectory. Hereinafter, "equipment action" and "vehicle C action" will also be referred to as "equipment output".

[0064] For example, the movement of car C in this embodiment includes any physical quantity related to the unit involved in this disclosure, such as the forward / backward velocity, left / right velocity, forward / backward acceleration, left / right acceleration, and yaw rate, which characterize the movement of car C. It should be noted that "forward / backward" in this specification is equivalent to the forward and reverse directions of car C. Similarly, "left / right" in this specification is equivalent to the left and right rotation directions of car C.

[0065] More specifically, as described above, when the engine, electric motor, and braking unit of the car C are considered as units, the movement of the car C can include physical quantities related to its forward motion, such as forward and backward speed and acceleration. On the other hand, when the unit includes a steering system, the movement of the car C can include physical quantities related to its steering, such as yaw rate.

[0066] Each unit 20 can have multiple sub-units. The sub-units referred to here are selected from elements that control the operation of the corresponding unit 20. Figure 2 In the example shown, the first unit 201 has devices related to engine operation as subunits. Specifically, the first unit 201 has a throttle valve 201a and an EGR valve 201b as subunits. The second unit 202 can have an inverter and a DC / DC converter, etc., as subunits related to the drive of the electric motor, which are not shown in the figure. According to this disclosure, the subunits of the unit 20 can also be indirectly controlled by the control unit 20.

[0067] Each vehicle C is equipped with a PCM100 as a control device, serving as an element for controlling the vehicle C as a device. The PCM100 includes a CPU100a for performing various calculations, a memory 100b for temporarily storing data required by the CPU100a during calculations, and an input / output bus 100c that forms a path for sending and receiving data. The PCM100 is connected to the external server Cs in a manner capable of transmitting and receiving signals. In other words, the vehicle C is connected to the external server Cs via the PCM100 used to control the vehicle C.

[0068] The PCM100, serving as a control device, is wirelessly connected to a sensor used to detect measurement signals related to the driving environment (operational environment) of the vehicle C. More specifically, in this embodiment, the PCM100 is connected to a sensor that is not physically connected to any of the units 20. That is, the sensors involved in this embodiment can be selected not only from those physically mounted directly on the engine or other units 20, such as crankshaft angle sensors and cylinder pressure sensors, but also from those that can be mounted externally to the units 20 (so-called external sensors), such as GPS sensors.

[0069] The aforementioned external sensors are configured to detect measurement signals related to information (driving conditions) characterizing the environment in which the vehicle C is located, such as air pressure, temperature, and elevation. This information is not related to the dynamic actions of the vehicle C, such as its speed and acceleration.

[0070] Specifically, in this embodiment, the PCM100 is connected to an external temperature sensor SW1 (which is an external sensor, or measurement unit) and a vehicle speed sensor SW2 (which is a non-external sensor). The external temperature sensor SW1 detects a measurement signal indicating the operating environment of the device. The aforementioned sensors SW1 to SW2, together with the PCM100, constitute the control system of the vehicle C.

[0071] PCM100 is also connected to a display device 30 for displaying various information via wired or wireless means. The display device 30 can be constructed using liquid crystal displays, organic EL displays, etc.

[0072] Figure 3 This is a diagram illustrating, by way of example, the configuration of the control device (PCM100) of each device (car C). Figure 4 This is a diagram illustrating the control device (PCM100) on the equipment (car C). Figure 4 Exemplary Figure 3 The diagram illustrates the connections between functional blocks and their relationships to the dynamics of devices and units. Below, refer to... Figure 3 and Figure 4This section provides a brief explanation of the various functions installed in the PCM100.

[0073] like Figure 3 As shown, the PCM100 involved in this embodiment includes a first characteristic estimation unit 101 to an Nth characteristic estimation unit 10. N Equipment motion estimation unit 11, equipment motion target generation unit 12, model control unit 13, and first feedback unit 141 to Nth feedback unit 14 N The aforementioned functional blocks are implemented by a prescribed program (e.g., a pre-coded program or a program input to function as an interpreter) and are read into memory 100b as needed. Specifically, the first characteristic estimation unit 101 to the Nth characteristic estimation unit 10... N First Feedback Unit 141 to Nth Feedback Unit 14 N The number of each installed unit is equal to the number of units 20. The program corresponding to each functional block can be automatically or manually upgraded after the device (car C) starts to be used.

[0074] The following explains the basic concepts of processing implemented by each functional block.

[0075] <Basic Concepts>

[0076] In the functional block, the first characteristic estimation section 101 to the Nth characteristic estimation section 10 N Determine the inherent performance of each unit 20 (hereinafter referred to as "unit performance"), and based on the determined unit performance, define the characteristics of the first unit 201 to the Nth unit 20. N The models of their respective characteristics (hereinafter referred to as "unit characteristics"). Sometimes, "First characteristic estimation section 101 to Nth characteristic estimation section 10" will be used. N Collectively referred to as “characteristic estimation section 10”.

[0077] Furthermore, the first characteristic estimation section 101 to the Nth characteristic estimation section 10 N Based on the established model, the unit characteristics that the unit 20 corresponding to each characteristic estimation unit should realize are estimated. First characteristic estimation unit 101 to Nth characteristic estimation unit 10 N The respective estimation results are input into the device operation estimation unit 11. Hereinafter, the estimated unit characteristics will also be referred to as "estimated characteristics".

[0078] Specifically, the model set by the characteristic estimation unit 10 is configured to output unit characteristics according to unit performance. Here, "unit characteristics" refers to physical quantities that contribute to an increase or decrease in device output. In other words, the unit characteristics involved in this disclosure include various characteristics that contribute to an increase or decrease in device output.

[0079] For example, when the engine, electric motor, and braking unit are set as unit 20, and the front-rear acceleration or front-rear speed of the vehicle C is set as the device output, the engine torque, electric motor torque, and brake torque can be set as unit characteristics corresponding to the above settings.

[0080] Similarly, when the steering unit and braking unit are set as unit 20, and the yaw rate of the vehicle C is set as the device output, for example, the rack position of the steering rack of the steering unit and the braking torque can be set as unit characteristics corresponding to the above settings.

[0081] The device according to this embodiment has multiple units 20. These multiple units 20 may include a first unit 201 and a second unit 202. The first unit 201 facilitates the increase or decrease of a predetermined device output, and the second unit 202 facilitates the increase or decrease of the predetermined device output. In the example described, when the device output is set to the forward and backward acceleration or forward and backward speed of the vehicle C, the first unit 201 and the second unit 202 correspond to any combination of an engine, an electric motor, and a braking unit, respectively. Similarly, when the device output is set to the yaw rate of the vehicle C, the first unit 201 and the second unit 202 correspond to a steering unit and a braking unit, respectively.

[0082] In addition, the unit performance determined by the characteristic estimation unit 10 includes performance that contributes to the increase or decrease of unit characteristics, such as engine torque, as well as various coefficients formed by parameterizing the above performance.

[0083] For example, when engine torque is used as a unit characteristic, tire radius, gear ratio, vehicle weight, air resistance, gradient resistance, brake pad resistance (frictional resistance of brake pads), wheel hub resistance (frictional resistance of wheel hub), and tire moment of inertia can be used as unit performance corresponding to that unit characteristic. The characteristic estimation unit 10 sets a model that uses the above-mentioned unit performance as parameters, engine acceleration as input, and engine torque as output.

[0084] The characteristic estimation unit 10 determines the change in the unit performance. Based on the determination result of the change in unit performance, the characteristic estimation unit 10 can revise the model (hereinafter also referred to as the "unit model") to compensate for the change.

[0085] The characteristic estimation unit 10 has a performance change judgment unit (cell determination unit) 10a and an FF update unit (target value correction unit) 10b as functional blocks for judging cell performance and correcting the model, respectively. The FF update unit 10b, for example, determines the cell 20 whose cell performance has changed from among the multiple cells 20 based on the FB characteristic quantity (described later) input from the corresponding feedback unit 14. The FF update unit 10b corrects the target value (target characteristic) output by the model control unit 13 (described later) by correcting the cell model corresponding to the cell 20 determined by the performance change judgment unit 10a. Details of the above functional blocks will be described below.

[0086] The equipment operation estimation unit 11 estimates the operation based on the first characteristic estimation unit 101 to the Nth characteristic estimation unit 10. N The output estimated characteristics estimate the actions performed by the device (car C). The device action estimation unit 11 inputs the estimation result into the model control unit 13.

[0087] As described above, the device output is closely related to the unit characteristics of each unit 20. The device output can be modeled as a function that takes the unit characteristics of each of the multiple units 20 as input. The device operation estimation unit 11 and the model control unit 13 appropriately read from the memory 100b, etc., and use the function obtained by modeling the device output (hereinafter also referred to as "device model").

[0088] For example, when engine torque and electric motor torque are used as unit characteristics, as described above, the front-rear acceleration or front-rear velocity of the vehicle C can be used as the device output corresponding to that unit characteristic. In this case, the device output can be described by a model that formulates the connection structure from the powertrain consisting of the engine and electric motor to the tires (especially the drive wheels), and this model uses the sum of the engine torque and electric motor torque as input.

[0089] In other words, the characteristic estimation unit 10 and the device operation estimation unit 11 can be regarded as the result of modeling the relationship between unit characteristics and device output. By tracing this relationship in reverse, the unit characteristics (target values ​​of the characteristics that each unit should achieve) corresponding to the desired device output and the model settings used to achieve the unit characteristics can be automatically corrected.

[0090] The device motion target generation unit 12 generates target values ​​for the actions that the vehicle C should achieve as the device. As described later, when the model control unit 13 performs model predictive control, this target value corresponds to the so-called setpoint trajectory. When the front-rear acceleration of the vehicle C is used as the device output, the device motion target generation unit 12 generates target values ​​for the front-rear acceleration (specifically, the front-rear acceleration that should be achieved in the future). The above-mentioned target values ​​can be generated based on measurement signals related to the interface used to drive the vehicle C, such as the throttle opening of the vehicle C. For example, when the yaw rate of the vehicle C is used as the device output, a target value related to the device output can be generated based on the steering wheel rotation angle, etc.

[0091] The model control unit 13 generates target values ​​for the characteristics (unit characteristics) that each unit 20 should achieve, based on the models (unit models) set corresponding to each unit 20 in the plurality of units 20. Specifically, the model control unit 13 calculates the instruction values ​​for each unit 20 based on the device output (estimated action) estimated by the device action estimation unit 11, the unit characteristics (estimated characteristics) estimated by the characteristic estimation unit 10, and the model also corrected by the characteristic estimation unit 10. It should be noted that when the plurality of units 20 includes units 20 with sub-units, it can also be configured to calculate the instruction values ​​corresponding to those sub-units. The model control unit 13 calculates at least a number of instruction values ​​equal to the number of units 20. The instruction values ​​calculated by the model control unit 13 are input to the first feedback unit 141 to the Nth feedback unit 14. N In any one of the units 20.

[0092] The command value calculated by the model control unit 13 corresponds to the target value of the unit characteristic of each unit 20. That is, when the front and rear acceleration of the car C is used for the estimated action, the model control unit 13 calculates the target value of the engine torque, the target value of the electric motor torque, etc. Based on the equipment model and the unit model, the unit characteristics corresponding to the equipment output to be achieved are inversely calculated, thereby realizing the above calculation.

[0093] In particular, the model control unit 13 according to this embodiment is capable of performing model predictive control. When the above configuration is adopted, the input to the model control unit 13 is discretized into a multi-level system. Specifically, the model control unit 13 uses the estimated or corrected unit characteristics, equipment actions, and model at a time one step from the current time, and the estimated or corrected unit characteristics, equipment actions, and model at a time two steps from the current time as input, and uses the target value generated by the equipment action target generation unit 12 as the setpoint trajectory to correct the target value of the unit characteristics of each unit 20.

[0094] Here, as described above, when the plurality of units 20 include a first unit 201 that helps to increase or decrease the specified device output and a second unit 202 that helps to increase or decrease the specified device output, the device output as a device operation will increase or decrease with the sum of the characteristics of each unit. For example, when engine torque and electric motor torque are used as unit characteristics, as described above, the device output corresponding to the unit characteristic can be described by using a model that takes the sum of engine torque and electric motor torque as input. In this case, the model control unit 13 can output a target value of the sum of engine torque and electric motor torque.

[0095] Therefore, in order to calculate the target values ​​of engine torque and electric motor torque separately, the target value of the total value needs to be appropriately allocated to each unit 20. Thus, the model control unit 13 according to this embodiment changes the allocation of device output based on the unit performance determined by each characteristic estimation unit 10. Specifically, when the characteristic estimation unit 10 determines that the performance of one of the first unit 201 and the second unit 202 has changed, the model control unit 13 increases or decreases the target value of the other of the first unit 201 and the second unit 202 to compensate for the change accordingly. For example, if the performance of the engine, which is the first unit 201, changes over time, resulting in the correction of the target value of the unit characteristic, assuming that the output engine torque is lower than the desired engine torque, then the target value of the electric motor torque, which is the second unit 202, is set higher.

[0096] Figure 9 This is a diagram used to illustrate the functional allocation in control equipment, especially in controlling vehicle C. For example... Figure 9 As shown, the PCM100 reads the mapping specified for the device output allocation. In Figure 9 In the equation, on the straight line Lt, the sum of the engine torque (ENG torque) and the electric motor torque (MG torque) remains constant. The straight line Lt deviates according to the driving state of the car C. Figure 9 In the example shown, as indicated by the dotted line, the straight line Lt shifts upwards when car C accelerates or travels at high speed. Here, it is assumed that at the initial moment, as shown by point (plot) P2, the electric motor torque and engine torque are allocated. Here, as described above, when it is determined that the engine is aging, the model control unit 13 changes the torque allocation from point P2 to point P1. This sets the engine torque to a lower value and the electric motor torque to a higher value. Furthermore, a mapping specified for the current allocation can be stored, for example, in a state associated with the driving environment (driving conditions) of car C. In this case, PCM100 can read the mapping suitable for the current driving environment each time car C is started and use it for the allocation of device output.

[0097] First Feedback Section 141 to Nth Feedback Section 14 N It is set in a manner corresponding to each of the multiple units 20, and the target value of the unit characteristic calculated for each unit 20 is corrected. Hereinafter, "first feedback unit 141 to Nth feedback unit 14" will sometimes be referred to as "first feedback unit 141 to Nth feedback unit 14". N Collectively referred to as "Feedback Department 14".

[0098] In detail, the first feedback unit 141 to the Nth feedback unit 14 N Based on the output signals from the units 20 corresponding to each feedback unit 14, the output signals of the model control unit 13 are corrected to reduce the difference between the actual unit characteristic (hereinafter referred to as "actual characteristic") realized by the unit 20 and the target value (hereinafter referred to as "target characteristic") input from the model control unit 13. To perform this correction, the first feedback unit 141 to the Nth feedback unit 14... N Generate feedback signals corresponding to each unit 20 (equivalent to Figure 5 FB features).

[0099] The feedback signal can be based on the difference between the actual characteristic and the target characteristic, or the ratio of the actual characteristic to the target characteristic. For example, in the case of PID control based on the difference between the actual characteristic and the target characteristic, the feedback signal is a signal obtained by adding the product of the difference and the proportional gain (proportional term), the integral value of the difference and the integral gain (integral term), and the derivative value of the difference and the derivative gain (differential term). When using the difference between the actual characteristic and the target characteristic, the feedback unit 14 corrects the target characteristic by adding the feedback signal calculated in this way to the electrical signal corresponding to the target characteristic. A feedback unit 14 is provided for each unit 20. Therefore, this correction is performed on a unit 20 basis.

[0100] The feedback unit 14 changes the FB characteristic value based on the output signal from the corresponding unit 20. The FB characteristic value represents one of the feedback signal and the FB parameter, and the FB parameter represents a coefficient that contributes to the increase or decrease of the feedback signal.

[0101] For example, in the case of PID-type feedback control, the FB parameter corresponds to the proportional gain, integral gain, and derivative gain. The feedback unit 14 adjusts the FB characteristic value to correct the target characteristic and compensate for changes in unit performance. For instance, if the actual characteristics of the corresponding unit 20 change significantly, the FB characteristic value will be adjusted much more drastically compared to a case with a relatively small change. This enables feedback control that follows changes in unit performance.

[0102] More specifically, the feedback unit 14 in this embodiment adjusts the FB characteristic quantity through data-driven control. In this case, as with adaptive feedback control, the unit characteristics implemented by the corresponding unit 20 are directly input to each feedback unit 14, or as with so-called database-type data-driven control, the unit characteristics are indirectly input to each feedback unit 14 through a database. The feedback unit 14 can implement both of these methods.

[0103] Feedback unit 14 inputs the FB characteristic values ​​to the corresponding performance change judgment unit 10a. Performance change judgment unit 10a judges the change in unit performance based on the change in the FB characteristic values ​​of each unit 20. For example, if the FB characteristic value changes significantly, it can be judged that the unit performance is more likely to change compared to a case of a small change. Furthermore, if the FB characteristic value changes continuously rather than temporarily, it can be judged that the unit performance is more likely to change irreversibly. Therefore, performance change judgment unit 10a judges whether the moving average of the FB characteristic value exceeds a predetermined threshold and counts the number of times the moving average exceeds the predetermined threshold. Performance change judgment unit 10a judges whether the number of such counts exceeds a predetermined number within a predetermined period. If the judgment result is "no" (or if the moving average is less than the predetermined threshold), it adjusts the FB characteristic value, for example, through data-driven control, performs a correction of the target characteristic, and compensates for the change in unit performance.

[0104] On the other hand, if the judgment result is "yes" (or if the moving average is above a predetermined threshold), as described above, the unit model is corrected by the FF update unit 10b, thereby the performance change judgment unit 10a performs correction of the target characteristics and compensates for changes in unit performance. Here, the FF update unit 10b performs model updates by increasing or decreasing the parameters characterizing the unit model. It should be noted that the FF update unit 10b inputs a signal to the model control unit 13 indicating that a model update has been performed and indicating the updated parameters. The model control unit 13 can then perform changes to the allocation of device outputs based on such input signals.

[0105] The target characteristics corrected by the feedback unit 14 are input into the corresponding unit 20 as the instruction value corresponding to the corresponding unit 20.

[0106] In this embodiment, the command value, corrected by the first feedback unit (first FB unit) 141, is input to the first unit (engine) 201. The first unit 201 outputs engine torque, which is a characteristic of the engine, based on a dynamic action D1 corresponding to the unit performance at the time the command value was input. A signal representing the engine torque is input to the first feedback unit (first FB unit) 141, which performs feedback control based on FB characteristic quantities and corrections to the engine's unit model.

[0107] Similarly, the command value, corrected by the second feedback unit (second FB unit) 142, is input to the second unit (motor) 202. The second unit 202 outputs the actual realized motor torque as the actual characteristic of the motor based on the dynamic action D2 corresponding to the unit performance at the moment the command value was input. A signal representing the motor torque is input to the second feedback unit (second FB unit) 142, which performs feedback control based on FB characteristic quantities and corrections to the motor's unit model.

[0108] The vehicle C, as a device, performs dynamic actions D corresponding to the engine torque output by the engine (as the first unit 201), the motor torque output by the electric motor (as the second unit), and the performance of the first unit 201 and the second unit 202 at the moment when the engine torque and the electric motor torque are input. p The output is the forward and backward speed, forward and backward acceleration, etc., output by the device.

[0109] In other words, the unit characteristics estimated by the first characteristic estimation unit 101, the unit characteristics estimated by the second characteristic estimation unit 102, and the device output (estimated action) estimated by the device action estimation unit 11 correspond to the unit characteristics realized by the first unit 201, the unit characteristics realized by the second unit 202, and the device output (actual action) realized by the vehicle, respectively.

[0110] With the inherent performance of each unit 20 remaining constant, and the model control unit 13 performing model predictive control with high precision, the characteristics of each unit and the output of the device are approximately consistent with each other. Furthermore, the unit model is equivalent to the result of modeling the dynamic actions D1 and D2 of the corresponding unit 20, and the device model is equivalent to modeling the dynamic actions D1 and D2 of the entire device. p The result of modeling. Therefore, if any unit 20 experiences performance changes such as aging over the years, there is no need to change the equipment model or the unit models of all units 20. Only the model corresponding to the unit 20 that has experienced performance changes needs to be modified to compensate for the performance changes.

[0111] The following sections will provide more detailed information about each functional block.

[0112] <Detailed Composition>

[0113] -Characteristic estimation unit 10-

[0114] Figure 5 This is a diagram used to illustrate the estimation of element characteristics by the characteristic estimation section 10. For example... Figure 5 As shown, in addition to the performance change judgment unit 10a and FF update unit 10b, the characteristic estimation unit 10 also includes a unit characteristic estimation unit 10c, a mapping generation unit 10d, and a model generation unit 10e. In the illustration, only the first characteristic estimation unit 101 is shown as an example, but the configuration of the second characteristic estimation unit 102 is the same.

[0115] As described above, the performance change determination unit 10a determines the change in the corresponding unit performance based on the multi-leveled command value and the FB characteristic quantity. Here, the measurement signal from the external temperature sensor SW1, which is an external sensor, is also input into the performance change determination unit 10a. That is, for example, air resistance can change depending on air density and external temperature. As described above, although air resistance may affect unit performance and thus affect the optimization of the unit model, the above-mentioned effect is considered to be temporary. Therefore, it is inappropriate to regard the effect caused by the driving environment (external environment) of the car C, represented by air resistance, as an annual change in unit performance.

[0116] Therefore, the performance change judgment unit 10a determines the change in unit performance based on the driving environment (operational environment of the equipment) of the vehicle C detected by external sensors such as the external temperature sensor SW1 and the FB characteristic quantity. For example, the PCM100 or a secondary storage device connected to the PCM100 stores a database, mapping, model, etc., that associates the FB characteristic quantity with the driving environment and indicators used to determine the change in unit performance. The performance change judgment unit 10a determines whether the input FB characteristic quantity represents a temporary change in unit performance or a continuous change (irreversible change) in unit performance by inputting the FB characteristic quantity input from the feedback unit 14 and the current driving environment into the database, etc.

[0117] It should be noted that the elevation and air pressure of the location where car C is traveling can be used as information related to the driving environment. For example, this information can be measured by a GPS sensor, which acts as an external sensor. The PCM100 can determine changes in unit performance using elevation and air pressure, either without using external air temperature or, in addition to using external air temperature. Furthermore, it can record the distance traveled by car C (or, in the case of more common equipment), either without using measurement signals from external sensors or, in the case of using measurement signals from external sensors, the duration of equipment operation, and refer to this record to determine changes in unit performance.

[0118] As described in the simplified configuration of the characteristic estimation unit 10, the unit characteristic estimation unit 10c estimates which unit performance has changed and how much among the multiple unit performances set for each unit 20. This estimation can be made based on the amount of change in the FB characteristic quantity (especially the difference between the moving average of the FB characteristic quantity and the specified threshold) and based on the driving environment or driving state of the vehicle C.

[0119] For example, regarding the engine as the first unit 201, the unit characteristic estimation unit 10c can estimate the engine performance change by associating the change in the opening of the throttle valve 201a, which is a subunit constituting the engine, with the change in the FB characteristic quantity that directly or indirectly contributes to the increase or decrease of engine torque. More specifically, the unit characteristic estimation unit 10c can estimate the performance change in detail by associating the control target of the subunit constituting each unit 20 with the time change of the FB characteristic quantity. It should be noted that the "FB characteristic quantity" mentioned in this example refers to the FB characteristic quantity that contributes to the increase or decrease of the opening of the throttle valve 201a (more specifically, the FB characteristic quantity of the torque acting on the throttle valve 201a). Since the amount of air intake and engine torque of the engine are determined by the opening of the throttle valve 201a, this FB characteristic quantity can be regarded as the FB characteristic quantity that indirectly contributes to the increase or decrease of engine torque.

[0120] For example, if the FB characteristic quantity increases consistently regardless of the opening degree of the throttle body 201a, it can be determined that the reaction force acting on the valve body of the throttle body 201a has changed. In this case, it can be determined that the performance of the return spring constituting the throttle body 201a has changed (e.g., the spring force of the return spring has weakened). Similarly, for example, if the FB characteristic quantity remains constant when the opening speed of the throttle body 201a is constant, but increases or decreases when the opening speed increases or decreases, it can be determined that the moment of inertia of the throttle body 201a has changed. In this case, it can be determined that a foreign object is attached to the valve body or its shape has changed. By combining the changes in reaction force and the changes in moment of inertia, the degree of development of each change can be determined.

[0121] It should be noted that the judgment result of the unit characteristic estimation unit 10c can be displayed on the display device 30 of the vehicle C. In this way, the driver can understand the current performance of the vehicle C. Furthermore, as described later, the judgment result of the unit characteristic estimation unit 10c can also be shared with other vehicles C or sent to the factory, etc., as knowledge obtained by the vehicle C through an external server Cs.

[0122] The mapping generation unit 10d stores the mappings that correspond to the driving environment (operational environment of the equipment) of vehicle C, FB features, and the parameters of the representation model, namely FF parameters. FF parameters refer to the parameters used when formulating the unit model, such as tire radius and gear ratio. A simpler database can also be used instead of mapping. During the driving of vehicle C, the mapping generation unit 10d can update the relationship between the driving environment, FB features, and FF parameters of vehicle C in real time.

[0123] For example, as mentioned above, the FF parameters are updated in real time as the unit performance changes. This allows the engine's unit model to be corrected. It should be noted that if the engine's unit model is corrected, the PCM100, as mentioned above, can also change the allocation of the device output based on the unit characteristics and device output corresponding to that unit model. For example, consider the following scenario: the engine's injectors become clogged, resulting in a reduction in the maximum value of the engine torque, a unit characteristic. In this example, depending on the set target torque, the desired device output may not be achieved. This possibility is particularly significant when maximizing device output or energy efficiency is required. In this case, like using... Figure 9 As explained, the PCM100 achieves the desired device output by compensating for changes in the maximum value of the engine torque using the electric motor torque. On the other hand, for example, if the target torque is not that high and energy efficiency is not required to be maximized, compensation using the electric motor torque is not necessary, and therefore the allocation does not need to be changed. In this way, the PCM100 is configured to change the allocation of the device output according to the target setting of the device output.

[0124] By using the mapping generation unit 10d, various factors, such as changes in unit performance arising from units 20 different from their corresponding units 20, can be reflected in model control. By reflecting the "individual" performance changes of the corresponding units 20 in model control, the device performance that meets the developer's intentions can be achieved more reliably. By accumulating knowledge of the characteristics of each unit 20 related to aging and performance deviations, model-based control can function more reliably.

[0125] The model generation unit 10e performs regression processing on the mappings generated by the mapping generation unit 10d to generate a model corresponding to the mappings. The model generated by the model generation unit 10e is a model that maps the driving environment (operational environment of the equipment) of the car C, the FB feature quantity, and the FF parameters corresponding to the performance of each unit. It should be noted that neither the mapping generation unit 10d nor the model generation unit 10e is necessary.

[0126] The FF update unit 10b reflects the newly obtained FF parameters, obtained through mapping, modeling, etc., into the unit model and performs an update of the unit model. If the FF parameters characterizing the unit model also affect the shape of the device model, the FF update unit 10b outputs the updated FF parameters to the device action estimation unit 11 and the model control unit 13. Through this output, the unit model and the device model are updated respectively.

[0127] -Feedback Department 14-

[0128] Figure 6 This diagram illustrates the feedback control of the unit characteristics by the feedback unit 14. (For example...) Figure 6 As shown, the first feedback unit 141, which is the feedback unit 14, includes an FB update unit 14a, an FB command value generation unit 14b, a target characteristic correction unit 14c, and a time adjustment unit 14d. As shown in the figure, the second feedback unit 142 has the same configuration as the first feedback unit 141. The configuration of the first feedback unit 141 will be described below only, omitting the configuration related to the cooperation between the feedback units 14.

[0129] The FB update unit 14a updates the FB parameters used to increase or decrease the FB characteristic quantity based on the difference between the target characteristic output from the model control unit 13 and the actual characteristic of the first unit 201, or the ratio of the target characteristic to the actual characteristic. As described above, in the case of PID-type feedback control, for example, the FB parameters are equivalent to proportional gain, integral gain, and derivative gain. The FB parameter update method can employ various methods included in data-driven control. For example, the FB parameters can be updated using common adaptive control, or by referencing a database, mapping, model, etc.

[0130] The FB update unit 14a in this embodiment, like the mapping generation unit 10d and model generation unit 10e in the feature estimation unit 10, can update in real time the mapping and model associated with one or more of the driving environment, target characteristics, and actual characteristics of the vehicle C as input and FB parameters as output; illustrations are omitted for this purpose. The FB update unit 14a can also derive, independently of the form of a pre-defined model, a relational expression using one or more of the driving environment, target characteristics, and actual characteristics of the vehicle C as input and FB parameters as output through machine learning. In this case, the FB update unit 14a also functions as a regression learner.

[0131] The FB update unit 14a inputs the updated FB parameters into the FB command value generation unit 14b. Furthermore, when the FB parameters are used as FB feature values, the FB parameters updated by the FB update unit 14a branch off from the FB update unit 14a and the FB command value generation unit 14b and are input to the feature estimation unit (specifically, the first feature estimation unit 101) 10. Both the feature estimation unit 10 and the feedback unit 14 are related to the same unit 20. Alternatively, the change in the FB parameters can be input into the feature estimation unit 10 instead of directly inputting the FB parameters.

[0132] The FB instruction value generation unit 14b generates a feedback signal representing a correction value (FB value) of the target characteristic based on the FB parameters updated by the FB update unit 14a and the difference between the target characteristic and the actual characteristic.

[0133] As already explained, in the case of PID-type feedback control, the FB value is the sum of the proportional, integral, and derivative terms with the difference as the independent variable. However, the feedback unit 14 involved in this embodiment is not limited to the above value. For example, it is also possible to generate a signal representing the FB value based on the ratio of the target characteristic to the actual characteristic.

[0134] When the FB value is used as the FB feature quantity, the FB value calculated by the FB instruction value generation unit 14b is branched from the FB instruction value generation unit 14b and the target feature correction unit 14c and then input to the feature estimation unit (specifically the first feature estimation unit 101) 10. The feature estimation unit 10 and the feedback unit 14 are both related to the same unit 20.

[0135] The target characteristic correction unit 14c performs target characteristic correction based on the target characteristic (FF value) output from the model control unit 13 and the correction value (FB value) generated by the FB command value generation unit 14b.

[0136] Here, in the feedback unit 14, when performing PID control based on the difference between the target characteristic and the actual characteristic, the target characteristic correction unit 14c functions as an adder, outputting an electrical signal corresponding to the sum of the FF and FB values. On the other hand, when performing feedback control based on the ratio of the target characteristic to the actual characteristic, the target characteristic correction unit 14c functions as a multiplier, outputting an electrical signal corresponding to the product of the FF and FB values. In the illustrations, only the former configuration is shown, but this disclosure also includes the latter configuration.

[0137] When more than one unit is identified by the unit determination unit, that is, when more than one unit 20 among the multiple units 20 is determined by the performance change judgment unit 10a to have experienced a performance change, the timing adjustment unit 14d sets the timing for reflecting the correction of the target characteristic to be approximately the same in each unit 20. More specifically, the timing adjustment unit 14d performs the timing setting for units 20 among the multiple units 20 that contribute to the increase or decrease of the same device output. The combinations of the aforementioned units 20 include not only the combination of the electric motor, engine, and braking unit shown in the illustration, but also combinations of the steering unit and braking unit, etc.

[0138] When there are multiple units determined by the unit determination unit, the target value correction unit sets the time for reflecting the correction of the target value to be approximately the same in each unit.

[0139] <Control Example>

[0140] The main part of the control implemented by the control device configured as described above will be explained below. In the example shown below, the control device is equivalent to PCM100 mounted on the automobile C as a device. As described above, the unit 20 controlled by the PCM100 is equivalent to a first unit 201 composed of an engine and a second unit 202 composed of an electric motor.

[0141] Figure 7 This is a flowchart illustrating, by way of example, the main part of the control performed by the control device (PCM100). Figure 8 This is a flowchart illustrating the main parts of the steps to correct the target characteristic. It is repeatedly performed while driving car C. Figure 7 and Figure 8 The process is shown below.

[0142] First, such as Figure 7 As shown in step S1, the characteristic estimation unit 10 estimates the unit characteristics. The estimation of unit characteristics is performed for each unit 20. Then, in step S2, the device operation estimation unit 11 estimates the device operation (device output) based on the estimated unit characteristics. It should be noted that when the model control unit 13 performs model predictive control, the estimation of unit characteristics and the estimation of device operation are performed for each time that is multi-leveled.

[0143] Then, in step S3, based on the estimated unit characteristics and device actions, the model control unit 13 generates, for example, target values ​​(target characteristics) for model predictive control. The generation of target values ​​is performed for each unit 20.

[0144] In step S4, before or during the generation of the target value in step S3, the performance change determination unit 10a of the characteristic estimation unit 10 determines, based on the actual unit characteristics (actual characteristics), the unit 20 whose performance has changed within the unit 20 constituting the automobile C as a device. It should be noted that... Figure 7 The order of the steps in this example is only one instance. For example, it can also be configured such that step S4 is performed before step S1.

[0145] In step S5, the FF update unit 10b of the characteristic estimation unit 10 corrects the model of the cell determined in step S4. The target characteristic is corrected by the FF update unit 10b in correcting the model.

[0146] In step S6, like using Figure 9 As explained, the functional allocation between the change units 20 is modified. Specifically, the model control unit 13 adjusts the ratio of the target characteristics of the engine (first unit 201) to the target characteristics of the electric motor (second unit 202) to keep the actions (equipment output) that the vehicle C should perform constant. This processing can be performed based on parameters characterizing the driving state of the vehicle C, such as the measurement signal from the vehicle speed sensor SW2.

[0147] In step S7, the corrected target characteristic is input into unit 20. Each unit 20 implements a characteristic that reflects the corrected target characteristic for the unit characteristic estimated in step S1. The vehicle C receives this corrected characteristic and implements the same equipment action (actual action) as the equipment action estimated in step S2.

[0148] Here, the specific adjustment steps for the target characteristics are as follows: Figure 8 As shown in step S11, the characteristic estimation unit 10 sets the standard characteristics of the unit 20 based on the current driving environment, etc. Then, as shown in step S12, the characteristic estimation unit 10 reads the FB characteristic quantity calculated by the feedback unit 14.

[0149] Then, in the next step S13, the characteristic estimation unit 10 determines whether the characteristics estimated by the characteristic estimation unit 10 are canonical characteristics based on the characteristics of the unit 20 estimated based on the current FB characteristic values. If the determination result is "yes", the characteristic estimation unit 10 determines that the current system action is appropriate, and the model control unit 13 generates FF values ​​and returns them. In this case, the PCM 100 performs model predictive control while fixing the FB parameters and without changing the model corresponding to each unit 20. Figure 10As shown in (1), this state corresponds to the state in which the unit 20 does not change over time and its unit performance remains at a certain level, or it corresponds to the state in which the change over time is compensated by updating the FF or FB parameters after the change over time (realizing the state that reflects the specification characteristics after the update of the FF or FB parameters).

[0150] On the other hand, if the judgment result in step S13 is "no", the characteristic estimation unit 10 determines in step S14 whether the response characteristics of unit 20 can be improved (whether it can be addressed by adjusting the FB feature value?). If the judgment result is "yes", as shown in step S15, the feedback unit 14 corresponding to that unit 20 updates the FB parameters, and the model control unit 13 generates and returns the FF value. In this case, the PCM100 performs model predictive control while fixing the FB parameters and without changing the model corresponding to each unit 20. Figure 10 As shown by the solid line in (2), this state corresponds to the state where the cell performance decreases due to the time-dependent changes in cell 20, but this decrease is compensated for by updating the FB parameters. It should be noted that... Figure 10 The dotted line represents the performance curve when neither the FB parameter nor the FF parameter is updated.

[0151] If the judgment result in step S14 is "No", the characteristic estimation unit 10 determines that the unit performance of the cell 20 has irreversibly changed significantly. In this case, the characteristic estimation unit 10 updates the FF parameters, and the model control unit 13 generates and returns the FF values. In this case, as shown in step S16, the PCM100 performs model predictive control in the state after changing the FB parameters and in the state after changing the FF parameters representing the model corresponding to each cell 20. Figure 10 As shown in (3), the state corresponds to the state where the unit performance is greatly reduced due to the time change of unit 20, but the impact of this reduction is compensated by updating the FB parameters and changing the model (updating the FF parameters).

[0152] As explained above, according to this embodiment, the FF update unit 10b performs characteristic target correction on the units 20 identified by the performance change judgment unit 10a among the multiple units 20. In other words, the FF update unit 10b performs characteristic target correction on the units 20 whose inherent performance is determined to have changed. In this way, the performance of the vehicle C is spontaneously compensated, allowing it to remain constant. Furthermore, compensation is performed on a unit-by-unit basis, not on a vehicle-by-vehicle basis, thereby suppressing changes in the control methods of other units 20 as much as possible while simultaneously achieving performance compensation.

[0153] The FF update unit 10b corrects the target characteristics by modifying the model corresponding to the determined unit 20, thereby achieving the desired device output. In this way, by adjusting the device output with compensation on a unit 20 basis, changes in the control mode of other units 20 can be suppressed, and the device output can be adjusted.

[0154] Like using Figure 9 As explained, for example, if the performance of the first unit 201 changes irreversibly and significantly, the desired device output can be achieved by increasing or decreasing the target values ​​of the other second units 202. In this way, by having the other units 20 spontaneously compensate for performance changes, it is beneficial to keep the performance of the vehicle C constant.

[0155] For temporary or irreversible performance changes with relatively small magnitudes, feedback control is used to correct the target characteristic. Conversely, for irreversible performance changes with relatively large magnitudes, a correction model is used to correct the target characteristic. By employing these two correction methods, more flexible control is achieved, which helps maintain a consistent performance of vehicle C.

[0156] By using external sensors such as the external temperature sensor SW1, control can be implemented to correlate the performance changes of unit 20 with the operating environment of the vehicle C. This allows for more appropriate compensation of the performance of each unit 20.

[0157] <Other Implementation Methods>

[0158] (Regarding the other units 20)

[0159] In the described embodiment, control related to the combination of an engine as a first unit 201 and an electric motor as a second unit 202 has been explained, but this disclosure is not limited to the control described above. This disclosure can also be applied to control of a combination of an engine and an electric motor with a braking unit. Furthermore, it can also be applied to control related to a combination of a steering unit and a braking unit, where the steering unit and braking unit replace the engine and electric motor.

[0160] (Collaboration with external server Cs)

[0161] In the described embodiment, a configuration was presented in which the PCM100 of each vehicle C constituting the control system S functions as a control device according to this disclosure; however, this disclosure is not limited to the above configuration. Alternatively, at least a portion of the functional blocks that function as control devices may be installed on an external server Cs, through which the vehicles C communicate with each other. In this case, a computing system combining the PCM100 and the external server Cs functions as the control device according to this disclosure.

[0162] In this case, such as Figure 11 As shown in PCM100', it is possible to estimate the first characteristic 101 to the Nth characteristic 10 N It is installed on an external server Cs. Furthermore, not limited to the illustration, the first characteristic estimation section 101 to the Nth characteristic estimation section 10 can also be... N A portion of the components is installed on PCM100', and the remainder is installed on an external server Cs. Furthermore, the first characteristic estimation unit 101 to the Nth characteristic estimation unit 10 can also be installed on the external server Cs. N Other functional blocks, such as the device action estimation unit 11, are installed on the external server Cs.

[0163] (The collaboration between the devices)

[0164] Alternatively, it can be configured to share the determination result of the unit determination unit (characteristic estimation unit 10) of any of the multiple devices with other devices, thereby replacing... Figure 11 The configuration is shown. In this case, as... Figure 12 As shown, the characteristic estimation unit 10 is installed only on the specified PCM1001”, and the other PCM1002” receive the determination result of PCM1001” and perform the correction of the target characteristic, etc. In this case, cooperation through the external server Cs is not necessary.

[0165] Not limited to the illustration, it can also be configured such that, with the characteristic estimation unit 10 also installed on other PCM1002", information such as units whose performance has changed can be exchanged between devices. For example, databases, mappings, models, etc. generated based on external temperature can be shared between vehicles C.

[0166] (Collaboration with Factory F1 and F2)

[0167] For example, such as Figure 13 As shown, it is also possible to: replace the scheme of enabling car C to cooperate with each other through external server Cs, or on the basis of the scheme of enabling car C to cooperate with each other through external server Cs, enable car C, car C's component factory F1, and car C's system repair factory F2 to cooperate.

[0168] In this case, as shown in process P1, if the information representing the knowledge obtained by the car C (more specifically, the information representing the time-dependent changes in the unit performance of each unit 20) is sent to the external server Cs, then the external server Cs will place a manufacturing order for unit 20 with the component factory F1 based on the time-dependent changes in unit performance, or place a manufacturing order for the sub-units constituting each unit 20, such as throttle valve 201a and EGR valve 201b (refer to process P2).

[0169] Then, as shown in processes P3 and P4, components such as sub-units are delivered from component factory F1 to system repair factory F2, and component delivery notification is sent from component factory F1 to external server Cs. Next, external server Cs schedules maintenance work with system repair factory F2 (refer to process P5). Finally, system repair factory F2 or external server Cs notifies vehicle C of the scheduling details (refer to process P6).

[0170] In summary, the control device disclosed herein is used for controlling changes in unit performance, and is extremely useful by outputting information representing such changes to the outside of the device or by sharing such information between devices.

Claims

1. A control device for controlling an equipment comprising multiple units, characterized in that: The control device includes a model control unit, a unit determination unit, a target value correction unit, and multiple feedback units. The model control unit generates target values ​​for the characteristics that each unit should achieve, based on the model set corresponding to each of the plurality of units. The unit determining unit identifies units among the plurality of units whose inherent performance has changed. For the cells determined by the cell determination unit, the target value correction unit corrects the target value. The plurality of feedback units correspond to each of the plurality of units. The device is a car. Among the plurality of said units, there is a combination of a unit consisting of an engine and a unit consisting of an electric motor, wherein the engine outputs torque for driving the vehicle, and the electric motor outputs torque for driving the vehicle. The target value correction unit corrects the target value on a unit-by-unit basis to compensate for the vehicle's performance. Each of the multiple feedback units generates a feedback signal based on the output signal from the unit corresponding to each feedback unit. The feedback signal corrects the output signal of the model control unit in a manner that compensates for the difference between the actual achieved characteristic of the unit and the target value. Each of the multiple feedback components adjusts an FB characteristic value based on the output signal from the unit, thereby correcting the output signal. The FB characteristic value represents either the feedback signal or an FB parameter, where the FB parameter represents a coefficient that contributes to the increase or decrease of the feedback signal. The multiple feedback units respectively input the FB feature values ​​into the unit determination unit. The unit determination unit determines the change in the inherent performance of the unit based on the changes in the FB characteristic quantities in each unit. If the moving average of the FB feature is less than a predetermined threshold, for temporary performance changes or irreversible performance changes of relatively small magnitude, the target value correction unit adjusts the FB feature to correct the target value. When the moving average of the FB feature is above the specified threshold, for irreversible performance changes with relatively large changes, the target value correction unit corrects the target value by modifying the model corresponding to the unit determined by the unit determination unit.

2. The control device according to claim 1, characterized in that: The control device includes multiple characteristic estimation units and equipment action estimation units. Each of the plurality of characteristic estimation units is provided corresponding to each of the plurality of units, and the plurality of characteristic estimation units estimate the characteristics implemented by each unit. The device operation estimation unit estimates the device output based on the characteristics estimated by each of the plurality of characteristic estimation units. The target value correction unit corrects the target value so that the device output achieves the desired device output.

3. The control device according to claim 1 or 2, characterized in that: The plurality of units include a first unit and a second unit, wherein the first unit facilitates the increase or decrease of the specified device output, and the second unit facilitates the increase or decrease of the specified device output. When the unit determining unit determines that the performance of one of the first unit and the second unit has changed, the model control unit increases or decreases the target value of the other of the first unit and the second unit in order to compensate for the change accordingly.

4. The control device according to claim 1, characterized in that: The control device includes a measuring unit that detects measurement signals representing the operating environment of the device. The unit determination unit determines the change in the inherent performance of the unit based on the measurement signal from the measurement unit and the FB characteristic quantity.

5. The control device according to claim 4, characterized in that: The control device includes a mapping generation unit that stores the operating environment of the device, the FB feature values, and the FF parameters, where the FF parameters are parameters characterizing the model. The target value correction unit compares the detection signal from the measurement unit and the FB feature quantity with the FF parameter corresponding to the FB feature quantity.

6. The control device according to claim 5, characterized in that: The mapping generation unit updates the relationship between the device's operating environment, the FB feature quantity, and the FF parameter in real time during the device's operation.

7. The control device according to claim 1, characterized in that: When there are multiple units determined by the unit determination unit, the timing of the correction reflecting the target value is adjusted so that the timing of the correction reflecting the target value in each unit is approximately the same.

8. The control device according to claim 1, characterized in that: Among the plurality of said units, one or more are included: an engine and an electric motor that output torque for driving the vehicle; a braking unit for braking the vehicle; and a steering system for steering the vehicle.

9. A control system comprising a plurality of devices, wherein the plurality of devices are controlled by a control device according to any one of claims 1 to 8, characterized in that: Each of the plurality of said devices includes a plurality of said units. The determination result of the unit determination unit of any one of the multiple devices is shared with other devices.

10. The control system according to claim 9, characterized in that: At least a portion of the control device is installed on an external server. The multiple devices communicate with each other through the external server.

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