US 12,393,166 B2
Adaptive PID controller
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. 17/855,542.
Prior Publication US 2024/0019818 A1, Jan. 18, 2024
Int. Cl. G05B 13/04 (2006.01); H01J 37/32 (2006.01)
CPC G05B 13/042 (2013.01) [H01J 37/32137 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An adaptive engine configured to receive a reference waveform and provide a control to one or more actuators, the adaptive engine comprising:
an estimation law module configured to receive an input regressor, the input regressor comprising:
a reference signal, r,
a system output measurement, ymeas,
an estimated system output, yest_out_k−1, for a previous iteration,
an estimated delay, and
a control output, uout_k−1, from the previous iteration;
the estimation law module configured to:
apply one or more estimation laws to the input regressor to produce a plurality of estimated model parameter tensors, θ, for a nonlinear model;
compute an estimation error, ê, or a cost function, J, using the system output measurement, ymeas, and the estimated system output for the previous iteration, yest_out_k−1;
determine a model order based at least in part on the estimation error, ê, or the cost function, J, and the estimated delay;
a control law sub-engine comprising a first control law module and a second control law module;
a control law selector and combiner (CSC) configured to receive a first possible control signal, uSE1_k, from the first control law module and a second possible control signal, uSE2_k, from the second control law module;
wherein a non linear model is configured to produce:
a first estimated system output, yest_SE1, for the first control law module, based upon applying the nonlinear model to (1) a previous iteration of the first possible control signal, uSE1_k−1, or (2) the first possible control signal uSE1_k, and
a second estimated system output, yest_SE2, for the second control law module, based upon applying the nonlinear model to (1) a previous iteration of the second possible control signal, uSE2_k−1, or (2) the second possible control signal, uSE2_k; and
wherein the CSC is configured to provide one of, or a combination of, the first and second possible control signals, uSE1_k and uSE2_k, to a selector module based at least in part on a predicted error derived from the first estimated system output, yest_SE2 and the second estimated system output, yest_SE2.