CA2375313A1 - System and method for control scheduling - Google Patents

System and method for control scheduling Download PDF

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Publication number
CA2375313A1
CA2375313A1 CA002375313A CA2375313A CA2375313A1 CA 2375313 A1 CA2375313 A1 CA 2375313A1 CA 002375313 A CA002375313 A CA 002375313A CA 2375313 A CA2375313 A CA 2375313A CA 2375313 A1 CA2375313 A1 CA 2375313A1
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Canada
Prior art keywords
control signal
offset value
mode
smoothed
steps
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Granted
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CA002375313A
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French (fr)
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CA2375313C (en
Inventor
John B. Morrell
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Deka Products LP
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Individual
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so th at the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.

Claims (22)

1. A system of converting between a first operating mode and a second operating mode in a device, system comprising:
a control loop which utilizes gain coefficients associated with the first operating mode to control the system in the first operating mode and utilizes gain coefficients associated with the second operating mode when operating in the second operating mode;
a gain selector which causes the control loop to operate using the coefficients associated with the second operational mode at substantially the same instant that the device transitions from the first operational mode to the second operational mode;
and a smoother which smoothes the output of the control loop before a control signal created by the control loop is provided to the device, wherein said smoother smoothes the offset by adding a decaying offset value to the control signal.
2. The system of claim 1, wherein the gain selector determines whether the control loop utilizes the coefficients associated with the first mode or the coefficients associated with the second mode based upon a current operational mode of the device.
3. The system of claim 1, further comprising a gain table which is accessed by the control loop and contains the coefficients which are associated with a current mode of operation.
4. The system of claim 1, wherein the offset value is determined by comparing a smoothed control signal applied to the device before the transition and a control signal created after the transition.
5. A method of smoothly switching between modes in a mufti-mode apparatus, the method comprising steps of:
determining whether a mode change has occurred;
determining an offset value if the mode has changed;
adding a decaying version of the offset value to a control signal before the control signal is applied to the apparatus to create a smoothed control signal; and applying the smoothed control signal to the apparatus.
6. The method of claim 5, wherein the offset value is equal to a difference between a last signal applied to the apparatus and a control signal generated after the mode change.
7. The method of claim 5, wherein the offset value is decayed by the steps of:
(a) multiplying a current offset value by a number less than one;
(b) updating the current offset to equal the result of the multiplication of step (a); and (c) repeating steps (a) and (b).
8. The method of claim 7, wherein step (c) is repeated until the current offset value approaches a lower threshold.
9. The method of claim 8, wherein the lower threshold is approximately zero.
10. The method of claim S, further comprising a step of:
storing smoothed control signal.
11. The method of claim 10, wherein a difference between the stored smoothed control signal and a control signal created after the apparatus has changed modes is used to determine the offset value.
12. The method of claim 11, further comprising steps of:
determining whether an offset value is currently decaying; and replacing the currently decaying offset value with a new offset value when the apparatus changes modes.
13. A method of smoothly switching between modes in a multi-mode apparatus, the method comprising steps o~
determining whether a mode change has occurred, said mode change occurring as a result of the apparatus becoming unstable;
determining an offset value if the mode has changed;
adding an offset value to a control signal before the control signal is applied to a controlled device of the apparatus to create a smoothed control signal; and applying the smoothed control signal to the controlled device.
14. The method of claim 13, wherein the offset value is equal to a difference between a last signal applied to the controlled device and a control signal generated after the mode change.
15. The method of claim 13, wherein the offset value is decayed by the steps of:
(a) multiplying a current offset value by a number less than one;
(b) updating the current offset to equal the result of the multiplication of step (a); and (c) repeating steps (a) and (b).
16. The method of claim 15, wherein step (c) is repeated until the current offset value approaches a lower threshold.
17. The method of claim 16, wherein the lower threshold is approximately zero.
18. The method of claim 13, further comprising a step of:
storing smoothed control signal.
19. The method of claim 18, wherein a difference between the stored smoothed control signal and a control signal created after the apparatus has changed modes is used to determine the offset value.
20. The method of claim 9, further comprising steps of:
determining whether an offset value is currently decaying; and replacing the currently decaying offset value with a new offset value when the apparatus changes modes.
21. The method of any of claims 13-20, wherein the controlled device is a motor.
22. The method of any of claims 13-20, wherein the apparatus is self balancing human transport device.
CA2375313A 1999-05-28 2000-03-14 System and method for control scheduling Expired - Lifetime CA2375313C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/322,431 1999-05-28
US09/322,431 US6553271B1 (en) 1999-05-28 1999-05-28 System and method for control scheduling
PCT/US2000/006668 WO2000073101A1 (en) 1999-05-28 2000-03-14 System and method for control scheduling

Publications (2)

Publication Number Publication Date
CA2375313A1 true CA2375313A1 (en) 2000-12-07
CA2375313C CA2375313C (en) 2010-05-18

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CA2375313A Expired - Lifetime CA2375313C (en) 1999-05-28 2000-03-14 System and method for control scheduling

Country Status (12)

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US (3) US6553271B1 (en)
EP (1) EP1183163B1 (en)
JP (2) JP2003500773A (en)
KR (2) KR100913443B1 (en)
AT (1) ATE309109T1 (en)
AU (1) AU774856B2 (en)
CA (1) CA2375313C (en)
DE (1) DE60023879T2 (en)
MX (1) MXPA01012232A (en)
MY (1) MY120603A (en)
TW (1) TW425282B (en)
WO (1) WO2000073101A1 (en)

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