Method and system for limited time fault tolerant control of actuators based on pre-computed values
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-011/01
G06F-011/00
G05B-009/02
출원번호
US-0188785
(2011-07-22)
등록번호
US-8843218
(2014-09-23)
발명자
/ 주소
Jochim, Markus
Peruski, Lawrence E.
Czerny, Barbara J.
D'Ambrosio, Joseph G.
Debouk, Rami I.
출원인 / 주소
GM Global Technology Operations LLC
대리인 / 주소
Quinn Law Group, PLLC
인용정보
피인용 횟수 :
0인용 특허 :
5
초록▼
A method of controlling an actuator includes developing a sequence of actuation commands S(tx)=C(tx, tx), C(tx, tx+1), . . . , C(tx, tx+n) obtained from data sensed before time tx for controlling the actuator at different time intervals (tx, tx+1), (tx+1, tx+2), . . . , (tx+n−1, tx+n). The sequence
A method of controlling an actuator includes developing a sequence of actuation commands S(tx)=C(tx, tx), C(tx, tx+1), . . . , C(tx, tx+n) obtained from data sensed before time tx for controlling the actuator at different time intervals (tx, tx+1), (tx+1, tx+2), . . . , (tx+n−1, tx+n). The sequence of actuation commands is transmitted to and stored in memory of an actuation ECU, which then applies the actuation command for time interval (tx, tx+1). If a fault affects a sensor, a control ECU or data communication therebetween, the actuation ECU will not receive an updated sequence of actuation commands S(tx+1) at time tx+1. If the updated actuation command sequence, the actuation ECU applies the actuation command for the time intervals (tx+1, tx+2), . . . , (tx+n−1, tx+n) from the sequence of actuation commands S(tx) that is stored in the memory of the actuation ECU.
대표청구항▼
1. A method of controlling an actuator, the method comprising: developing a sequence of actuation commands S(tx), with a control Electronic Control Unit (ECU) from data obtained before a time interval tx to control the actuator at a plurality of different time intervals tx, tx+1, tx+2, . . . , tx+n,
1. A method of controlling an actuator, the method comprising: developing a sequence of actuation commands S(tx), with a control Electronic Control Unit (ECU) from data obtained before a time interval tx to control the actuator at a plurality of different time intervals tx, tx+1, tx+2, . . . , tx+n, with the sequence of actuation commands including at least one actuation command for each of the different time intervals, wherein t represents a time and x represents an interval, such that tx represents a time interval, and n represents a total number of time intervals; wherein the sequence of actuation commands for the different time intervals is equal to: S(tx)=C(tx),C(tx+1), . . . ,C(tx+n);wherein S(tx) is the sequence of actuation commands obtained from the data before the time interval tx, and C is an actuation command for a time interval;sending the sequence of actuation commands S(tx) obtained from the data before the time interval tx from the control ECU to an actuation ECU;storing the sequence of actuation commands S(tx) obtained from the data before the time interval tx in the actuation ECU;applying the actuation command C(tx) for the time interval tx from the sequence of actuation commands S(tx) obtained from the data before the time interval tx, upon the actuation ECU receiving the transmitted sequence of actuation commands S(tx) from the control ECU;developing an updated sequence of actuation commands S(tx+1), with the control ECU from data obtained before the time interval tx+1 to control the actuator at a plurality of different time intervals tx+1, tx+2, . . . , tx+n;wherein the updated sequence of actuation commands from the data obtained before the time interval tx+1 for the different time intervals, is equal to: S(tx+1)=C(tx+1),C(tx+2), . . . ,C(tx+n);sending the updated sequence of actuation commands S(tx+1) from the control ECU to an actuation ECU;applying the actuation command for the time interval tx+1, from the updated sequence of actuation commands S(tx+1), after applying the actuation command for the time interval tx from the sequence of actuation commands S(tx) and prior to applying any of the remaining actuation commands for time intervals tx+1, tx+2, . . . , tx+n from the sequence of actuation commands S(tx), when the actuation ECU receives the updated sequence of actuation commands S(tx+1) at time interval tx+1 from the data obtained before time interval tx+1; andapplying the actuation command for a specific time interval tx+1, tx+2, . . . , tx+n, from the sequence of actuation commands S(tx), after applying the actuation command for the time interval tx, from the sequence of actuation commands S(tx) stored in the actuation ECU, when the actuation ECU is unable to receive the updated sequence of actuation commands S(tx+1) at time interval tx+1 from the data obtained before time interval tx+1 to provide continued control of the actuator for n time intervals. 2. A method as set forth in claim 1 further comprising sensing data before the time interval tx that is related to the operation of the actuator. 3. A method as set forth in claim 2 further comprising transmitting the sensed data obtained before the time interval tx to at least one control ECU through a serial data link. 4. A method as set forth in claim 3 wherein developing the sequence of actuation commands from the data obtained before the time interval tx is further defined as processing the sensed data with the control ECU to develop the sequence of actuation commands obtained from the corresponding data sensed before the time interval tx. 5. A method as set forth in claim 4 further comprising transmitting the sequence of actuation commands obtained from the corresponding data sensed before the time interval tx from the control ECU to the actuation ECU. 6. A method as set forth in claim 5 further comprising sensing data before time interval tx+1 that is related to the operation of the actuator. 7. A method as set forth in claim 6 further comprising transmitting the sensed data obtained before time interval tx+1 to the control ECU through the serial data link. 8. A method as set forth in claim 7 wherein developing the sequence of actuation commands from the data obtained before time interval tx+1 is further defined as processing sensed data obtained before time interval tx+1 with the control ECU to develop the sequence of actuation commands obtained from the corresponding data sensed before time interval tx+1. 9. A method as set forth in claim 8 further comprising identifying a fault that at least temporarily prevents the actuation ECU from receiving the transmitted sequence of actuation commands obtained from the data sensed at time interval tx+1. 10. A method as set forth in claim 9 wherein identifying a fault includes identifying a fault in one of a sensor, the control ECU or the serial data link. 11. A method as set forth in claim 1 further comprising storing the sequence of actuation commands S(tx+1) obtained from data at time interval tx+1 in the actuation ECU. 12. A method as set forth in claim 11 further comprising deleting the sequence of actuation commands S(tx) obtained from data at the time interval tx from the memory of the actuation ECU upon the actuation ECU receiving the updated sequence of actuation commands S(tx+1) obtained from data at time interval tx+1. 13. A system comprising: an actuator;a sensor configured for sensing data related to the control of the actuator;a control Electronic Control Unit (ECU) in communication with the sensor for receiving data therefrom, and including a processor operable to develop a sequence of actuation commands S(tx) from the data obtained before a time interval tx to control the actuator at a plurality of different time intervals tx, tx+1, tx+2, . . . tx+n, with the sequence of actuation commands including at least one actuation command for each of the different time intervals, wherein t represents a time and x represents an interval such that tx represents a time interval, and n represents a total number of time intervals; wherein the sequence of actuation commands for the different time intervals is equal to: S(tx)=C(tx),C(tx+1), . . . C(tx+n);wherein S(tx) is the sequence of actuation commands obtained from the data before the time interval tx, C is an actuation command for a specific time interval; andan actuation ECU including a processor operable to control the actuator, and in communication with the control ECU for receiving the sequence of actuation commands therefrom;wherein the processor of the actuation ECU is operable to:store the sequence of actuation commands S(tx) obtained from the data before the time interval tx, andapply the actuation command for the time interval tx from the sequence of actuation commands S(tx) stored in the actuation ECU;apply an actuation command for time interval tx+1, from an updated sequence of actuation commands S(tx+1), when the actuation ECU receives the updated sequence of actuation commands S(tx+1) from data obtained before time interval tx+1 from the control ECU, after applying the actuation command for the time interval tx from the sequence of actuation commands S(tx) and prior to applying any of the actuation commands for any other time interval tx+1, tx+2, . . . tx+n from the sequence of actuation commands S(tx);apply the actuation command for a specific time interval tx+1, tx+2, . . . tx+n from the sequence of actuation commands S(tx) stored in the actuation ECU, when the actuation ECU is unable to receive the updated sequence of actuation commands S(tx+1) at time interval tx+1 from data obtained before time interval tx+1 to provide continued control of the actuator for n time intervals; anddelete the sequence of actuation commands S(tx) from data obtained before the time interval tx upon the actuation ECU receiving the updated sequence of actuation commands S(tx+1) from data obtained before the time interval tx+1.
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