公开(公告)号：EP1450221A2

公开(公告)日：2004-08-25

申请号：EP04012915.7

申请日：2000-04-14

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Yasui, Yuji

IPC分类号： G05B13/04 ,  F02D41/14 ,  F02D41/02

CPC分类号： G05B13/042 ,  F02D41/1402 ,  F02D41/1403 ,  F02D41/1441 ,  F02D41/1456 ,  F02D41/1479 ,  F02D41/1481 ,  F02D41/1482 ,  F02D2041/1409 ,  F02D2041/1416 ,  F02D2041/1418 ,  F02D2041/142 ,  F02D2041/1423 ,  F02D2041/1426 ,  F02D2041/1431 ,  F02D2041/1433 ,  G05B13/047

摘要： A downstream exhaust system controller (10) generates a target value for the output of an upstream O 2 sensor (7) disposed between first (3) and second (4) catalytic converters for converging the output of a downstream O 2 sensor (6) disposed downstream of the second catalytic converter to a target value while taking into account the dead time of a downstream exhaust system (E1). An upstream exhaust system controller (11) generates a target air-fuel ratio for an internal combustion engine (1) for converging the output of the upstream O 2 sensor to a target value while taking into account the dead time of an upstream exhaust system (E2). A fuel processing controller (12) controls the air-fuel ratio of the internal combustion engine at the target air-fuel ratio according to a feedback control process.

摘要翻译： 下游排气系统控制器（10）产生用于输出设置在第一（3）和第二（4）催化转化器之间的上游O 2传感器（7）的目标值，用于会聚下游O 2传感器（6）的输出， 在第二催化转化器的下游设置为目标值，同时考虑下游排气系统（E1）的死区时间。 上游排气系统控制器（11）产生用于将上游O 2传感器的输出会聚到目标值的内燃机（1）的目标空燃比，同时考虑上游排气系统的死区时间（ E2）。 燃料处理控制器（12）根据反馈控制过程控制内燃机的目标空燃比的空燃比。

公开(公告)号：EP1321653A2

公开(公告)日：2003-06-25

申请号：EP03004951.4

申请日：1997-04-07

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Yasui, Yuji ,  Hanada, Kohei ,  Akazaki, Shusuke

IPC分类号： F02D41/14 ,  G05B13/02

CPC分类号： G05B13/047 ,  F02D41/1402 ,  F02D41/1403 ,  F02D41/1441 ,  F02D41/1456 ,  F02D41/1473 ,  F02D2041/1409 ,  F02D2041/1415 ,  F02D2041/1416 ,  F02D2041/1418 ,  F02D2041/142 ,  F02D2041/1423 ,  F02D2041/1426 ,  F02D2041/1431 ,  F02D2041/1433

摘要： An air-fuel control system for use with an internal combustion engine (1) has a catalytic converter (4) disposed in an exhaust system (A) of the engine, for purifying an exhaust gas emitted from the engine, a first exhaust gas sensor (6) in the exhaust system for detecting an air-fuel ratio of the exhaust gas upstream of the catalytic converter, a second exhaust gas sensor (7) in the exhaust system for detecting the concentration of a component of the exhaust gas which has passed through the catalytic converter, downstream of the catalytic converter, and a correction quantity calculator (16) for determining a correction quantity to correct an air-fuel ratio of the engine based on an output from the second exhaust gas sensor so as to equalize the concentration of the component of the exhaust gas downstream of the catalytic converter to a predetermined appropriate value. The air-fuel ratio of the engine is controlled based on the determined correction quantity and an output from the first exhaust gas sensor so as to converge the concentration of the component toward the predetermined appropriate value. A state predictor (18) estimates the concentration of the component, detected by the second exhaust gas sensor, after a dead time present in an exhaust system including the catalytic converter between the first and second exhaust gas sensors, based on outputs up to the present from the first and second exhaust gas sensors. The correction quantity calculator determines the air-fuel ratio of the engine so as to equalize the concentration of the component to the predetermined appropriate value, based on the estimated concentration of the component.

摘要翻译： 一种与内燃机（1）一起使用的空燃控制系统具有设置在发动机的排气系统（A）中的用于净化从发动机排出的排气的催化转化器（4），第一排气传感器 （6），用于检测催化转化器上游的废气的空燃比，排气系统中的第二废气传感器（7），用于检测已经通过的废气的成分浓度 通过催化转化器，催化转化器的下游，以及校正量计算器（16），用于基于来自第二排气传感器的输出确定校正量以校正发动机的空燃比，以使浓度 的催化转化器下游的废气的成分达到预定的适当值。 基于所确定的校正量和来自第一废气传感器的输出来控制发动机的空燃比，以将部件的浓度朝着预定的适当值收敛。 状态预测器（18）基于到目前为止的输出来估计在包括第一和第二废气传感器之间的催化转化器的排气系统中存在的死区时间之后由第二排气传感器检测到的部件的浓度 从第一和第二废气传感器。 校正量计算器基于所估计的组分浓度，确定发动机的空燃比，以将组分的浓度与预定的适当值相等。

公开(公告)号：EP1293851A1

公开(公告)日：2003-03-19

申请号：EP02720505.3

申请日：2002-04-19

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： YASUI, Yuji ,  IWAKI, Yoshihisa ,  TAKAHASHI, Jun

IPC分类号： G05B13/00

CPC分类号： G05B13/042 ,  F02D35/0007 ,  F02D41/1403 ,  F02D41/1454 ,  F02D41/40 ,  F02D2041/1423 ,  F02D2041/143 ,  G05B13/047 ,  G05B13/048

摘要： A control system for a plant is provided. This control system can control the plant more stably, when the model parameters of the controlled object model which are obtained by modeling the plant, which is a controlled object, are identified and the sliding mode control is performed using the identified model parameters. The model parameter identifier (22) calculates a model parameter vector (θ) by adding an updating vector (d θ) to a reference vector ( θ base) of the model parameter. The updating vector (dθ) is corrected by multiplying a past value of at least one element of the updating vector by a predetermined value which is greater than "0" and less than "1". The model parameter vector (θ) is calculated by adding the corrected updating vector (d θ) to the reference vector (θ base).

摘要翻译： 提供了一种植物控制系统。 当通过对作为受控对象的设备进行建模获得的受控对象模型的模型参数被识别并且使用所识别的模型参数来执行滑动模式控制时，该控制系统可以更稳定地控制设备。 模型参数标识符（22）通过向模型参数的参考向量（＆Thetas; base）添加更新向量（d＆amp; t s;）来计算模型参数向量（＆Thetas;）。 通过将更新向量的至少一个元素的过去值乘以大于“0”且小于“1”的预定值来校正更新向量（d＆amp; t）。 通过将校正后的更新向量（d＆amp; s）添加到参考向量（＆Thetas; base）来计算模型参数向量（＆Thetas;）。

公开(公告)号：EP0875341B1

公开(公告)日：2002-12-04

申请号：EP98303298.8

申请日：1998-04-28

申请人： SEIKO SEIKI KABUSHIKI KAISHA

发明人： Shimada, Akira, c/o Seiko Seiki Kabushiki K. ,  Ohtachi, Yoshinobu, c/o Seiko Seiki Kabushiki K. ,  Mita, Tsutomu

IPC分类号： B24B27/04 ,  B25J9/16 ,  G05B19/19 ,  G05B13/02

CPC分类号： G05B19/19 ,  B24B27/04 ,  B25J9/1646 ,  B25J11/0065 ,  G05B13/047 ,  G05B2219/39224 ,  G05B2219/39322 ,  G05B2219/39341 ,  G05B2219/42353 ,  Y02P90/265

公开(公告)号：EP0908801A2

公开(公告)日：1999-04-14

申请号：EP98307499.8

申请日：1998-09-16

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Yasui, Yuji ,  Iwaki, Yoshihisa ,  Akazaki, Shusuke

IPC分类号： G05B13/04 ,  F02D41/14

CPC分类号： G05B21/02 ,  F02D41/008 ,  F02D41/1402 ,  F02D41/1403 ,  F02D41/1441 ,  F02D41/1456 ,  F02D41/1477 ,  F02D2041/1409 ,  F02D2041/1415 ,  F02D2041/1416 ,  F02D2041/1418 ,  F02D2041/142 ,  F02D2041/1423 ,  F02D2041/1426 ,  F02D2041/1431 ,  F02D2041/1433 ,  G05B13/047

摘要： A plant control system controls a plant (E) modeled as a discrete-system model including an element relative to a response delay of the plant (E) and an element relative to a dead time of the plant (E). The plant control system includes an actuator (1) for generating an input (LAF) to the plant (E), a first detector (6) for detecting an output from the plant (E), and a second detector (5) for detecting the input to the plant (E). An estimator (26) generates data representing an estimated value (VO2) of an output of the first detector (6) after the dead time, based on data representing an output of the second detector (5). A manipulated variable determining unit (13) determines a manipulated variable (KCMD) which determines the input to the plant (E), based on the estimated value, represented by the data generated by the estimator, of the output of the first detector (6) after the dead time. The input to the plant (E) from the actuator (1) is controlled such that the output from the first detector (6) will be equalized to a predetermined target value.

摘要翻译： 工厂控制系统控制作为离散系统模型建模的工厂（E），该离散系统模型包括相对于工厂（E）的响应延迟的元素和相对于工厂（E）的空载时间的元素。 该设备控制系统包括用于向设备（E）产生输入（LAF）的致动器（1），用于检测来自设备（E）的输出的第一检测器（6），以及用于检测 （E）的输入。 估计器（26）基于表示第二检测器（5）的输出的数据，生成表示第一检测器（6）的输出在死区时间之后的估计值（VO2）的数据。 操纵变量确定单元（13）基于由估计器生成的数据表示的第一检测器（6）的输出的估计值来确定确定对设备（E）的输入的操纵变量（KCMD） ）在死亡时间之后。 来自致动器（1）的工厂（E）的输入被控制为使得来自第一检测器（6）的输出将被均衡至预定的目标值。

公开(公告)号：EP0875341A1

公开(公告)日：1998-11-04

申请号：EP98303298.8

申请日：1998-04-28

申请人： SEIKO SEIKI KABUSHIKI KAISHA

发明人： Shimada, Akira, c/o Seiko Seiki Kabushiki K. ,  Ohtachi, Yoshinobu, c/o Seiko Seiki Kabushiki K. ,  Mita, Tsutomu

IPC分类号： B24B27/04 ,  B25J9/16 ,  G05B19/19 ,  G05B13/02

CPC分类号： G05B19/19 ,  B24B27/04 ,  B25J9/1646 ,  B25J11/0065 ,  G05B13/047 ,  G05B2219/39224 ,  G05B2219/39322 ,  G05B2219/39341 ,  G05B2219/42353 ,  Y02P90/265

摘要： An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane σ which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane σ . In this case, even if uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain k i (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto.

摘要翻译： 上相互作用术语存在于控制系统解耦的去耦矩阵的规则条件的基础上。 然后，在超平面西格玛其中已获得满足Lyapunov稳定性条件设计。 的控制量沿着超平面西格玛会聚。 在这种情况下，即使在C矩阵生成用于一个状态变量x（t）和连接到对象的输出y（t）的被控制的不确定性，所以能够收敛的控制量而总是满足Lyapunov稳定性 条件。 在控制系统中使用的（X，T）的非线性输入增益Ki被设计为大于预定值时当在C矩阵满足Lyapunov稳定性条件没有不确定性。 所以，根据该滑动模式解耦控制的控制输入信号由雅可比变换为关节的扭矩。 因此，对于控制输入信号，反向的非线性力动力学加入其中。

公开(公告)号：EP0799987A2

公开(公告)日：1997-10-08

申请号：EP97302373.2

申请日：1997-04-07

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Yasui, Yuji ,  Akazaki, Shusuke ,  Hanada, Kohei

IPC分类号： F02D41/14

CPC分类号： G05B13/047 ,  F02D41/1402 ,  F02D41/1403 ,  F02D41/1441 ,  F02D41/1456 ,  F02D41/1473 ,  F02D2041/1409 ,  F02D2041/1415 ,  F02D2041/1416 ,  F02D2041/1418 ,  F02D2041/142 ,  F02D2041/1423 ,  F02D2041/1426 ,  F02D2041/1431 ,  F02D2041/1433

摘要： An air-fuel control system for use with an internal combustion engine (1) has a catalytic converter (4) disposed in an exhaust system (A) of the engine, for purifying an exhaust gas emitted from the engine, a first exhaust gas sensor (6) in the exhaust system for detecting an air-fuel ratio of the exhaust gas upstream of the catalytic converter, a second exhaust gas sensor (7) in the exhaust system for detecting the concentration of a component of the exhaust gas which has passed through the catalytic converter, downstream of the catalytic converter, and a correction quantity calculator (16) for determining a correction quantity to correct an air-fuel ratio of the engine based on an output from the second exhaust gas sensor so as to equalize the concentration of the component of the exhaust gas downstream of the catalytic converter to a predetermined appropriate value. The air-fuel ratio of the engine is controlled based on the determined correction quantity and an output from the first exhaust gas sensor so as to converge the concentration of the component toward the predetermined appropriate value. A state predictor (18) estimates the concentration of the component, detected by the second exhaust gas sensor, after a dead time present in an exhaust system including the catalytic converter between the first and second exhaust gas sensors, based on outputs up to the present from the first and second exhaust gas sensors. The correction quantity calculator determines the air-fuel ratio of the engine so as to equalize the concentration of the component to the predetermined appropriate value, based on the estimated concentration of the component.

摘要翻译： 与内燃机（1）一起使用的空气燃料控制系统具有设置在发动机的排气系统（A）中的催化转化器（4），用于净化从发动机排出的排气，第一排气传感器 （6），用于检测催化转化器上游的排气的空燃比;排气系统中的第二排气传感器（7），用于检测已经通过的排气成分的浓度 通过所述催化转换器，在所述催化转化器的下游，以及校正量计算器（16），用于基于来自所述第二排气传感器的输出来确定校正量以校正所述发动机的空燃比，以便使所述浓度 将催化转换器下游的排气成分的温度降低到预定的适当值。 基于确定的校正量和来自第一排气传感器的输出来控制发动机的空燃比，以便将部件的浓度收敛到预定的适当值。 基于到目前为止的输出，状态预测器（18）在存在于包括第一和第二排气传感器之间的催化转化器的排气系统中的死时间之后，估计由第二排气传感器检测到的成分的浓度 来自第一和第二排气传感器。 校正量计算器基于估计的部件浓度来确定发动机的空燃比，以便将部件的浓度均衡到预定的适当值。

公开(公告)号：EP0463934B1

公开(公告)日：1996-04-17

申请号：EP91401647.2

申请日：1991-06-18

申请人： MASSACHUSETTS INSTITUTE OF TECHNOLOGY

发明人： Youcef-Toumi, Kamal

IPC分类号： G05B13/00

CPC分类号： F16C32/0444 ,  F16C32/0451 ,  F16C2360/45 ,  G05B13/02 ,  G05B13/047

公开(公告)号：EP0463934A1

公开(公告)日：1992-01-02

申请号：EP91401647.2

申请日：1991-06-18

申请人： MASSACHUSETTS INSTITUTE OF TECHNOLOGY

发明人： Youcef-Toumi, Kamal

IPC分类号： G05B13/00

CPC分类号： F16C32/0444 ,  F16C32/0451 ,  F16C2360/45 ,  G05B13/02 ,  G05B13/047

摘要： A time delay control system in which estimated unknown dynamics of a controlled process are calculated using calculations representative of convolutions of a state transition matrix with past data. A user or high level controller provides desired dynamics for a process. Periodic measurements of the processor taken to determine an error vector between the desired dynamics and the actual state of the process. The desired dynamics are used to determine the desired effects based on the present measured value of the state variables. The desired effects and the estimated effects of unknown dynamics are combined and multiplied by a pseudo inverse of a control matrix to obtain a control value. An error vector is multiplied by a feedback gain matrix and added to the control value to produce signal inputs to the process.

公开(公告)号：EP3146395A1

公开(公告)日：2017-03-29

申请号：EP15764774.4

申请日：2015-03-10

申请人： Honeywell Limited

发明人： SHI, Dawei ,  WANG, Jiadong ,  FORBES, Michael ,  BACKSTROM, Johan U. ,  CHEN, Tongwen

IPC分类号： G05B17/02

CPC分类号： G05B13/047 ,  G05B13/042 ,  G05B15/02 ,  G06F17/10

摘要： A method includes obtaining information identifying uncertainties associated with multiple parameters of a model for an industrial model-based controller. The method also includes obtaining information identifying multiple tuning parameters for the controller. The method further includes generating a graphical display identifying (i) one or more expected step responses of an industrial process that are based on the tuning parameters of the controller and (ii) an envelope around the one or more expected step responses that is based on the uncertainties associated with the parameters of the model. The parameters could include a process gain, a time constant, and a time delay associated with the model. The uncertainties associated with the parameters of the model could include, for each parameter of the model, an uncertainty expressed in the time domain. The information identifying the tuning parameters could include a settling time and an overshoot associated with the controller.

摘要翻译： 的方法包括获得的信息识别与模型的多个参数用在工业的基于模型的控制器相关联的不确定性。 因此，该方法包括：获得标识用于控制器的多个调谐参数。 该方法还包括产生一图形显示识别（ⅰ）工业processthat的一个或多个预期步骤响应是基于所述控制器和（ii）围绕所述一个或多个预期的阶跃响应的包络线的调谐参数并基于 与模型参数相关的不确定性。 所述参数可以包括过程增益，时间常数，和与模型相关联的时间延迟。 与模型的参数相关联的不确定性可能包括，模型以在时域中超表达不确定性的每个参数。 识别调谐参数的信息可以包括一个稳定时间和过冲与控制器相关联。