| CPC G05B 19/41885 (2013.01) [G05B 19/41875 (2013.01); G05B 2219/23005 (2013.01); G05B 2219/24128 (2013.01)] | 10 Claims |
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1. A control apparatus for controlling a plant including a plurality of units, the control apparatus comprising:
a model controller that generates a target value of a characteristic to be achieved by each unit based on a model set for each unit;
a unit specifier that specifies a unit in which performance unique to the unit has changed among the units;
a target value corrector that corrects the target value for the unit that has been specified by the unit specifier, and
a plurality of feedback sections that corresponds to the respective units, wherein
the plant is an automobile,
the units include an engine that outputs torque for driving the automobile and a motor that outputs torque for driving the automobile,
the target value corrector corrects the target value for the unit that has been specified by the unit specifier to keep a performance of the automobile constant,
each feedback section generates, based on an output signal from the unit corresponding to the each feedback section, a feedback signal for correcting an output signal from the model controller to compensate for a difference between a characteristic actually achieved by the unit and the target value,
each feedback section corrects the output signal by adjusting an FB characteristic amount indicating any one of the feedback signal or an FB parameter indicating a coefficient contributing to an increase or decrease in the feedback signal based on the output signal from the unit,
each feedback section inputs the FB characteristic amount to the unit specifier,
based on a change in the FB characteristic amount in each unit, the unit specifier determines a change in the performance unique to the unit,
the target value corrector, based on a change in the FB characteristic amount in each unit,
corrects the target value through adjustment of the FB characteristic amount in a case where a moving average of the FB characteristic amount is less than a predetermined threshold, and
corrects the target value through correction of the model corresponding to the unit that has been specified by the unit specifier in a case where the moving average of the FB characteristic amount is equal to or greater than the predetermined threshold,
generation of the target value by the model controller, specifying of the unit by the unit specifier, and correction of the target value by the target value corrector are repeatedly executed while the automobile is being driven,
the target value is a command value corresponding to each of the plurality of units, and
the control apparatus inputs the command value to the engine and the motor.
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