US 12,386,321 B2
Adaptive engine for tracking and regulation control using a control law selector and combiner
Chad S. Samuels, Fort Collins, CO (US)
Assigned to Advanced Energy Industries, Inc., Denver, CO (US)
Filed by Advanced Energy Industries, Inc., Denver, CO (US)
Filed on Jun. 30, 2022, as Appl. No. 17/855,587.
Prior Publication US 2024/0019819 A1, Jan. 18, 2024
Int. Cl. G05B 13/04 (2006.01); H01J 37/32 (2006.01)
CPC G05B 13/042 (2013.01) [G05B 13/04 (2013.01); G05B 2219/23292 (2013.01); G05B 2219/31464 (2013.01); G05B 2219/41039 (2013.01); H01J 37/32183 (2013.01); H01J 37/32266 (2013.01); H01J 37/32293 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An adaptive engine configured to receive a reference waveform and apply a control output, uout_k, to one or more actuators, the adaptive engine comprising: a processor; a memory storing instructions that, when executed by the processor, cause the adaptive engine to implement:
an estimation law module configured to receive an input regressor, the input regressor comprising:
a reference signal, r,
a system output measurement, ymeas, and
a control output, uout_k-1, from a previous iteration, and applied to the one or more actuators;
the estimation law module configured to apply one or more estimation laws to the input regressor to produce two or more estimated model parameter tensors, Θ, for a nonlinear model of the one or more actuators or a power system controlled by the one or more actuators;
a control law sub-engine comprising a first control law module and a second control law module;
a control law selector and combiner (CSC) coupled to outputs of the first and second control law modules and configured to receive a possible control signal, uSE_k, for a current iteration from each of the first and second control law modules;
wherein the nonlinear model is configured to produce two or more estimated system outputs, yest_SE based upon applying from each of the first and second control law modules: (1) a previous iteration of a possible control signal, USE_k-1, or (2) the possible control signal uSE_k, to the nonlinear model; and
wherein the CSC is configured to provide one of, or a combination of, (1) the possible control signal, USE_k, for the current iteration from the first control law module and (2) the possible control signal, USE_k, for the current iteration from the second control law module, to a selector module based at least in part on an estimation or prediction error derived from each of the estimated system outputs, yest_SE, and wherein the selector module computes the control output, uout_k, applied to the one or more actuators.