EP0241286B1
Expired / Lapsed
EP
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An auto-tuning controller
Assignee: Mitsubishi Electric Corp
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Filing: 1987-04-09
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Granted: 1991-09-11
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Expires: 2007-04-09
Abstract
No abstract record available.
Inventors
- 👤 Kohei Mitsubishi Denki K.K. Nomoto
- 👤 Tetsuo Mitsubishi Denki K.K. Kirimoto
- 👤 Michimasa Mitsubishi Denki K.K. Kondo
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-28 05:27
CPC Classifications
G; G05; G05B; G05B13/00; G05B13/02; G05B13/0265; G05B13/0275; G05B13/0205; G05B13/024; Y; Y10; Y10S; Y10S706/00; Y10S706/90; Y10S706/902; Y10S706/903; Y10S706/906
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
204 words
An auto-tuning control apparatus (figs. 1,5,9; fig.13; fig.16) for controlling a system, the apparatus comprising a controller (4) for controlling the system (3) a reasoning rule memory (9) and a fuzzy reasoner (10; 311; 412) for adjusting at least one control parameter (K c , T 1 , T D ) of the controller (4) in accordance with the application of reasoning rules thereby to information relating to the operation of the system, said apparatus being characterised by: a characteristics variables extractor (8) that is operable to sample an error waveform signal ((e): figs. 7(b), 11 (b)), indicative of the operation of the controlled system, to produce a multiplicity of samples (e(K) K=1 to N; E(K) K=1 to N; "peak; " pi, i=1, 2, 3) of the error waveform signal (e) and to produce from said waveform samples a plurality of extracted characteristics variables (S j , i=1,2,...) to be used by said fuzzy reasoner (10) as said information relating to the operation of the system, and in that the fuzzy reasoner (10) applies the reasoning rules to the or each extracted characteristic variable (Si) to adjust the, or each, control parameter (K c , T 1 , T D ) of the controller.
Claim 2
Dependent Claim
204 words
An auto-tuning control apparatus (figs. 1,5,9; fig.13; fig.16) for controlling a system, the apparatus comprising a controller (4) for controlling the system (3) a reasoning rule memory (9) and a fuzzy reasoner (10; 311; 412) for adjusting at least one control parameter (K c , T 1 , T D ) of the controller (4) in accordance with the application of reasoning rules thereby to information relating to the operation of the system, said apparatus being characterised by: a characteristics variables extractor (8) that is operable to sample an error waveform signal ((e): figs. 7(b), 11 (b)), indicative of the operation of the controlled system, to produce a multiplicity of samples (e(K) K=1 to N; E(K) K=1 to N; "peak; " pi, i=1, 2, 3) of the error waveform signal (e) and to produce from said waveform samples a plurality of extracted characteristics variables (S j , i=1,2,...) to be used by said fuzzy reasoner (10) as said information relating to the operation of the system, and in that the fuzzy reasoner (10) applies the reasoning rules to the or each extracted characteristic variable (Si) to adjust the, or each, control parameter (K c , T 1 , T D ) of the controller.
Claim 3
Dependent Claim
22 words
An apparatus (fig. 1, 5, 9) as claimed in claim 1 wherein said fuzzy reasoner (10) is a position type fuzzy reasoner.
Claim 4
Dependent Claim
54 words
An apparatus (fig. 13; fig.16) as claimed in claim 1 wherein said fuzzy reasoner (311; 412) is a velocity type fuzzy reasoner, said apparatus including integrating means (312; 413) for integrating the output of the fuzzy reasoner (311; 412) to adjust the or each control parameter (K c ,T 1 , T D ).
Claim 5
Dependent Claim
64 words
An apparatus (fig. 1, 13, 16) as claimed in claim 1 wherein said characteristics variables extractor (8) is operable to produce a multiplicity of waveform samples (e(K)) taken at regular intervals and to produce from these samples (e(K)) both a mean error (Eq.(14)) as one characteristics variable (S 1 ) and a mean error change rate (Eq.(15)) as another characteristics variable (S 2 ).
Claim 6
Dependent Claim
96 words
An apparatus (fig.5; fig.9) as claimed in claim 1 wherein said characteristics variables extractor (8) is operable to produce both a multiplicity of waveform samples (e(K)) taken at regular intervals and also waveform samples (°peak; " pi, i=1,2,3) taken at peak value to produce from these samples, respectively, both a mean error (Eq(14)) as one characteristics variable (S 1 ; S 2 ) and a variable dependant on either a peak value (fig. 5: Eq (18)) or an averaged ratio of successive peak values (fig.9: Eq(20)) as another characteristics variable (S 2 ; S i ).
Claim 7
Dependent Claim
38 words
An apparatus (fig. 1, 9, 13, 16) as claimed in claim 1 wherein the characteristics variables extractor (8) is operable to sample an error waveform signal (e) extracted from a point in the apparatus that is external thereto.
Claim 8
Dependent Claim
80 words
An apparatus (figs. 1, 13) as claimed in claim 6 wherein the error waveform signal (e) extracted for use by the characteristics variables extractor (8) is formed from the difference of a controlled variable signal (y) and a reference value signal (r), said apparatus including a reference value signal generator (1) for generating said reference value signal (r) and a subtraction means (-) preceding the controller (4) for receiving the controlled variable signal (y) and the reference value signal (r).
Claim 9
Dependent Claim
179 words
An apparatus (fig. 9; fig. 16) as claimed in claim 6 wherein the error waveform signal (e) extracted for use by the characteristics variable extractor (8) is formed from the difference of a controlled variable signal (y) and a test signal (T), said apparatus including a reference value signal generator (1) for generating a reference value signal (r), a test signal generator (209; 409) for generating the test signal (T), a switch (208; 408) connected to the reference value signal generator (1) and to the test signal generator (209; 409) for selecting either the reference value signal (r) or the test signal (T) and a subtraction means (-) connected between the switch (208; 408) and the controller (4) which switch (208; 408) also is to receive the controlled variable signal (y) from an output of the controlled system (3) to produce the error waveform signal (e) for the characteristics variable extractor (8) and another error waveform signal formed from the difference of the controlled variable signal (y) and the reference value signal (r) for control of the system (3).
Claim 10
Dependent Claim
40 words
An apparatus (fig. 5) as claimed in claim 1 wherein the characteristics variables extractor (8) is operable to sample an error waveform signal (e) produced therein from signals (y, T) extracted from points in the apparatus that are external thereto.
Claim 11
Dependent Claim
84 words
An apparatus (fig. 5) as claimed in claim 9 wherein the error waveform signal (e) is produced from the difference of a controlled variable signal (y) and a test signal (T), said apparatus including a test signal generator (109) for generating the test signal (T) and a switch (108) connected to an output of the controller (4) and to the test signal generator (109) to select either the test signal (T) or a manipulated variable signal (u) for application to the controlled system (3).
References Cited (Backward Citations)
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