Control system with diagnostics monitoring for engine control
New and/or alternative approaches to engine performance control that can account for the need to robustly monitor performance and/or operation of the physical plant and actuators thereof, while avoiding or limiting performance degradation. Model predictive control (MPC) or other control configuration such as proportional-integral-derivative control may be used to control the system by identifying a performance optimized control solution. In some examples, a modification to the performance optimized solution analysis is made to weight control solutions in favor of robust monitoring conditions. In other examples, the performance optimized solution is post-processed and modified to favor robust monitoring conditions.
1. A configurable controller for controlling a physical plant having associated therewith a plurality of actuators for controlling operation of the physical plant and a plurality of sensors for observing a plurality of characteristics of the physical plant operations, the configurable controller comprising:
a state observer configured to capture a current state of the physical plant using data from the plurality of sensors; and
an optimizer configured to use a model predictive control (MPC) cost function for controlling the physical plant using at least the actuators and data from the state observer and the plurality of sensors;
wherein at least one of the plurality of sensors is adapted to monitoring of a sensed parameter wherein the monitoring provides robust results only when operating parameters of the physical plant remain within a predefined robust monitoring region; and
wherein the MPC cost function of the optimizer comprises at least a first term associated with optimized performance of the physical plant, and at least one second term that includes a balancing term which increases with a distance of the operating parameters of the plant from the robust monitoring region.
2. The configurable controller of claim 1 wherein the monitoring takes place by sampling the sensed parameter in accordance with a monitoring frequency target and the at least one second term includes a weighting value which increases with the period from the last monitoring sample.
3. The configurable controller of claim 2 , wherein the at least one second term is a product of the weighting value and the balancing term.
4. The configurable controller of claim 2 wherein the weighting value has a zero lower limit and a non-zero upper limit.
5. The configurable controller of claim 1 wherein the predefined robust monitoring region is determined by a set of boundary conditions for operation of the sensors.
6. The configurable controller of claim 1 wherein the predefined robust monitoring region is determined by a set of boundary conditions for estimating an unmeasured variable or parameter.
7. The configurable controller of claim 1 wherein the at least one second term is zero if the operating parameters of the plant are in the robust monitoring region.
8. A vehicle comprising an internal combustion engine and a configurable controller as in claim 1 , wherein the configurable controller is used to manage operations of the internal combustion engine.
9. A configurable controller for controlling a physical plant having associated therewith a plurality of actuators for controlling operation of the physical plant and a plurality of sensors for observing a plurality of characteristics of the physical plant operations, the configurable controller comprising:
a state observer configured to capture the current state of the physical plant using data from the plurality of sensors; and
an operation optimizer configured to control the physical plant using at least the actuators and data from the state observer and the plurality of sensors; and
a diagnostics optimizer;
wherein at least one of the plurality of sensors is adapted to monitoring of a sensed parameter wherein the monitoring provides robust results only when operating parameters of the physical plant remain within a predefined robust monitoring region;
wherein the diagnostics optimizer is configured to modify an output of the operation optimizer to adjust performance of the physical plant by minimizing a balancing term which increases with a distance of the operating parameters of the plant from the robust monitoring region.
10. The configurable controller of claim 9 wherein the diagnostics optimizer uses a weighting value, the monitoring takes place by sampling the sensed parameter, and the weighting value increases with the period from the last monitoring sample.
11. The configurable controller of claim 10 , wherein the diagnostics optimizer is configured to adjust performance using a product of the weighting value and the balancing term.
12. The configurable controller of claim 9 wherein the predefined robust monitoring region is determined by a set of boundary conditions for operation of the sensors.
13. The configurable controller of claim 9 wherein the predefined robust monitoring region is determined by a set of boundary conditions for estimating an unmeasured variable or parameter.
14. The configurable controller of claim 9 wherein the diagnostics optimizer is configured to adjust performance of the physical plant within a predefined limited range, the predefined limited range determining a maximum total degradation of performance of the physical plant that the diagnostics optimizer can cause.
15. The configurable controller of claim 9 wherein the diagnostics optimizer is configured to analyze a plurality of operating variables to adjust performance of the physical plant within a predefined limited range for each of the plurality of operating variables, and the predefined limited range comprises a plurality of individualized limits defining a maximum degradation of performance of the physical plant relative to each of the plurality of operating variables.
16. The configurable controller of claim 9 wherein the diagnostics optimizer does not adjust performance of the physical plant if the operation optimizer determines a performance solution within the predefined robust monitoring region.
17. The configurable controller of claim 9 wherein the operation optimizer is configured to use a one of PID, LQR, or MPC methods for controlling the physical plant.
18. A method of operating a configurable controller adapted to control a physical plant;
the physical plant having associated therewith a plurality of actuators for controlling operation of the physical plant and a plurality of sensors for observing a plurality of characteristics of the physical plant operations, wherein at least one of the plurality of sensors is adapted to monitoring of a sensed parameter, the monitoring providing robust results only when operating parameters of the physical plant remain within a predefined robust monitoring region,
the configurable controller being operably coupled to one or more of the plurality of actuators to thereby control the actuators, and operably coupled to one or more of the plurality of sensors to receive sensed data therefrom, the configurable controller comprising a state observer configured to capture a current state of the physical plant using the data from the plurality of sensors, and an operation optimizer configured to control the physical plant using at least the actuators and data from the state observer and the plurality of sensors, and a diagnostics optimizer configured to modify an output of the operation optimizer; the method comprising:
the operation optimizer determining, using the current state of the physical plant, a first control solution for optimal performance;
the diagnostics optimizer calculating an adjustment to the first control solution by determining:
a current state of the system relative to a monitoring requirement; and
a distance between the first control solution and a boundary of the robust monitoring region;
the diagnostics optimizer determining a second control solution, different from the first control solution by no more than a predetermined deviation using the adjustment; and
the configurable controller issuing control signals, using the second control solution, to the actuators to operate the physical plant.