2DoF Controller Adaptation Using Anomaly Detection Signals
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Solution Overview
Problem
Two Degree of Freedom (2DoF) controllers face challenges in maintaining accuracy and robustness due to changes in the system, such as disturbances, wear, or nonlinearities, leading to incorrect control actions and potential system endangerment.
Innovation Solution
Anomaly detection is implemented to derive an anomaly detection signal from the control error, allowing adaptation of control parameters in a 2DoF controller to address deviations, with flexibility in model usage and output computation, and incorporating filtering and scaling to enhance accuracy and robustness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a 2DoF controller uses an inverse model in the feedforward path, then reference tracking performance is improved, but robustness deteriorates when the system changes due to disturbances, wear, or nonlinearities
Solution Approach 1:
The controller dynamically adapts its parameters based on real-time system behavior. The tuning parameter is continuously adjusted according to the control error signal, allowing the controller to transition between different operating modes and maintain both accuracy and robustness under varying conditions
Solution Approach 2:
A feedback mechanism monitors the control error and uses it to adjust the tuning parameter of the 2DoF controller. This closed-loop adaptation ensures that when the system deviates from expected behavior due to disturbances or wear, the controller automatically adjusts to maintain performance and detect anomalies
2Measurement precision
If controller parameters are manually tuned by experts, then control accuracy is improved, but device complexity and difficulty of operation increase
Solution Approach 1:
The controller performs self-tuning by automatically adjusting its own parameters based on the control error signal. This eliminates the need for expert manual tuning while maintaining high control accuracy, as the system adapts autonomously to changing conditions and optimizes its performance
Solution Approach 2:
The tuning parameter of the 2DoF controller is dynamically changed based on the magnitude of the control error. When error is high, the parameter adjusts to improve stability; when error is low, it optimizes for accuracy. This automatic parameter adaptation replaces complex manual tuning procedures
Data Source
AI summary
A method is provided for controlling a technical system by means of a Two Degree of Freedom controller, which allows for increased accuracy, higher robustness and better safety even in cases of changes of the technical system. The method comprises deriving an anomaly detection signal at an anomaly detection time point during control of the technical system. At least one control parameter parametrizing the Two Degree of Freedom controller is adapted depending on the anomaly detection signal and, from the anomaly detection time point onwards, the technical system is controlled by means of the Two Degree of Freedom controller parameterized by said at least one adapted control parameter.