Plant Control Parameter Tuning With Feedforward and Disturbance Estimation
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Solution Overview
Problem
Current control devices with disturbance observers face challenges in precise parameter identification and tuning, leading to prolonged tuning times and difficulties in achieving high precision control due to complexities in elements like elasticity, inertia, and damping coefficients.
Innovation Solution
A plant control device and method that simultaneously tunes and optimizes multiple controllers using a processor to calculate feedforward and feedback control inputs, estimate disturbances, and adjust parameters based on initial output, employing a nominal model and Q-filter, with a cost function and Hessian matrix to determine parameter directionality and update algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If traditional parameter identification methods are used for disturbance observer tuning, then measurement precision may be maintained, but tuning time is significantly lengthened due to difficulties in identifying parameters like elasticity, inertia, and damping coefficients
Solution Approach 1:
The patent employs iterative feedback mechanisms where the disturbance observer continuously estimates disturbances based on system output, and this estimation is fed back to refine parameter identification. The tuning process uses feedback from system responses to progressively improve parameter accuracy while reducing tuning time through automated iterations.
Solution Approach 2:
The disturbance observer performs self-tuning by automatically identifying parameters through its own disturbance estimation process. The system uses its operational data to self-correct and refine parameter values without requiring extensive external identification procedures, thereby reducing tuning time while maintaining precision.
2Manufacturing precision
If multiple controllers are tuned separately to achieve high precision control, then control accuracy may be improved, but device complexity and tuning difficulty increase significantly
Solution Approach 1:
The patent merges the tuning processes of multiple controllers by integrating them into a unified disturbance observer framework. The disturbance observer simultaneously handles parameter identification and controller tuning, combining what would otherwise be separate complex procedures into a single integrated process that reduces overall system complexity.
Solution Approach 2:
The disturbance observer serves multiple functions simultaneously: it estimates disturbances, identifies system parameters, and tunes controller parameters. This multi-functionality eliminates the need for separate tuning procedures for each controller, reducing complexity while maintaining the ability to achieve high precision control across multiple controllers.
Data Source
AI summary
Disclosed is a control device of a plant. The control device of a plant according to an embodiment includes a communication device configured to communicate with a plant; a processor configured to, based on receiving a command input for the plant, generate a control input for the plant and provide the control input to the plant, and the processor may calculate a feedforward control input of the plant using the command input and prestored first parameter, calculate an error based on a difference value of the command input and output of the plant, calculate a feedback control input of the plant using the calculated error and prestored second parameter, calculate a estimated disturbance of the plant based on the control input of the plant, output of the plant, and the prestored first parameter, generate the control input of the plant based on control input of the feedforward, control input of the feedback, and the estimated disturbance, and simultaneously adjust the first parameter and the second parameter based on an initial output of the plant during initial driving of the plant.