초록 ▼

A system for controlling a plant process wherein the plant is over-actuated with N+1 actuators and provides N performance variables is disclosed. The system includes an outer-loop controller operable to compare N performance variable values from the plant with a reference set point and provide a des

A system for controlling a plant process wherein the plant is over-actuated with N+1 actuators and provides N performance variables is disclosed. The system includes an outer-loop controller operable to compare N performance variable values from the plant with a reference set point and provide a desired virtual control input to an inner-loop controller. The inner-loop controller receives the desired virtual control input from the outer-loop controller and provides real control inputs to the at least N+1 actuators. The N+1 actuators receive the real control inputs and subsequently provide an actual virtual control input to the plant. Upon receiving the actual virtual control input from the N+1 actuators the plant is operable to produce N updated performance variable values in an optimized manner.

대표청구항 ▼

We claim: 1. A system for controlling a plant to a reference set point comprising: an outer-loop controller receiving said reference set point and a performance variable value from said plant, said outer-loop controller generating a desired virtual control input; an inner-loop controller receiving

We claim: 1. A system for controlling a plant to a reference set point comprising: an outer-loop controller receiving said reference set point and a performance variable value from said plant, said outer-loop controller generating a desired virtual control input; an inner-loop controller receiving said desired virtual control input from said outer-loop controller and generating a real control input; at least one actuator receiving said real control input from said inner-loop controller and generating an actual virtual control input; wherein said plant receives said actual virtual control input from said at least one actuator and generates an updated performance variable value; said inner-loop controller also minimizing a cost function in real time in order to generate said real control input, said cost function being a function of said desired virtual input and said actual virtual control input; and said at least one actuator provides said plant a disturbance, said disturbance equal to the difference between said actual virtual control input and said desired virtual control input. 2. The system of claim 1, wherein said outer-loop controller compares said reference set point with said performance variable before generating said desired virtual control input. 3. The system of claim 2, wherein said outer-loop controller is selected from the group consisting of a proportional integral controller, a model reference controller, a H-infinity controller and combinations thereof. 4. The system of claim 1, wherein said inner-loop controller uses control allocation to generate said real control input to said at least one actuator. 5. The system of claim 4, wherein said control allocation is dynamic control allocation. 6. The system of claim 5, wherein said dynamic control allocation is model predictive control allocation. 7. The system of claim 6, wherein said model predictive control allocation generates an optimal trajectory of said real control input using a dynamic model. 8. The system of claim 7, wherein said optimal trajectory is generated in real time over a receding horizon, for the purpose of minimizing a cost function. 9. The system of claim 1, wherein said at least one actuator provides an actuator state to said inner-loop controller. 10. The system of claim 1, wherein said outer-loop controller and said plant are within an outer loop. 11. The system of claim 1, wherein said inner-loop controller and said at least one actuator are within an inner loop. 12. The system of claim 1, wherein said plant has N performance variable(s) and said at least one actuators is at least N+1 actuators. 13. An inner-loop/outer-loop control system for controlling a plant process with an over-actuated plant having N performance variable(s) and at least N+1 actuators comprising: an outer loop with an outer-loop controller and said plant with said N performance variable(s), said outer-loop controller receiving and comparing values of said N performance variable(s) from said plant to a reference set point and generating a desired virtual control input to an inner loop; said inner loop having at least N+1 actuators and an inner-loop controller, said inner-loop controller using model predictive control allocation and receiving said desired virtual control input, generating an optimal trajectory of real control inputs over a receding horizon and providing an optimum set of real control inputs to said at least N+1 actuators; said N+1 actuators receiving said optimum set of real control inputs and generating an actual virtual control input to said plant within said outer loop; and said plant receiving said actual virtual control input and generating updated values of said N performance variable(s). 14. The system of claim 13, wherein said at least N+1 actuators provide said plant a disturbance, said disturbance equal to the difference between the actual virtual control input and the desired virtual control input. 15. A method for controlling a plant comprising: providing an outer-loop controller, the outer-loop controller receiving a reference set point and a performance variable value, comparing the reference set point with the performance variable value and then providing a desired virtual control input; providing an inner-loop controller, the inner-loop controller receiving the desired virtual control input from the outer-loop controller and providing a real control input; providing at least one actuator, the at least one actuator receiving the real control input from the inner-loop controller and providing an actual virtual control input; and providing a plant, the plant receiving the actual virtual control input from the at least one actuator and providing an updated performance variable value to the outer-loop controller; wherein the inner-loop controller also minimizing a cost function in real time in order to generate the real control input, the cost function being a function of the desired virtual input and said actual virtual control input; and the at least one actuator provides the plant a disturbance, the disturbance equal to the difference between actual virtual control input and the desired virtual control input. 16. The method of claim 15, wherein the inner-loop controller uses model predictive control allocation to provide the real control input to the at least one actuator. 17. The method of claim 16, wherein the model predictive control allocation computes an optimal trajectory of candidate real control inputs in real time over a receding horizon.