Cascade controller calibration
Upon determining calibration parameters for a single-loop controller that minimize a difference between an input to the single-loop controller and a response from the single-loop controller, calibration parameters for a cascade controller are determined based on the determined calibration parameters for the single-loop controller. The cascade controller includes a secondary controller and a primary controller. The calibration parameters for the cascade controller are provided to a second computer in a vehicle.
1 . A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
convert calibration parameters for a cascade controller to calibration parameters for a single-loop controller, wherein the cascade controller includes a primary controller and a secondary controller, and respective calibration parameters of the primary controller and the secondary control of the cascade controller are converted to the calibration parameters of the single-loop controller;
determine the calibration parameters for the single loop controller so as to minimize a difference between an input to the single-loop controller and a response from the single-loop controller;
convert the calibration parameters for the single loop control to updated calibration parameters for the cascaded controller;
wherein the updated calibration parameters for the cascade controller are provided to a second computer in a vehicle for vehicle operations; and
wherein the second computer can be programmed to update calibration parameters for the cascade controller periodically when instructed by the computer.
2 . The system of claim 1 , wherein the instructions further include instructions to select a type of one of the single-loop controller or the cascade controller based on a type of the other of the single-loop controller or the cascade controller, wherein the type of the cascade controller is defined by a type of the primary controller and a type of the secondary controller.
3 . The system of claim 2 , wherein the type of the single-loop controller is a proportional-integral-derivative-double integral-double derivative controller, the type of primary controller is one of a proportional-integral-derivative (PID) controller or a proportional-integral (PI) controller, and the type of the secondary controller is a PID controller.
4 . The system of claim 2 , wherein the type of the single-loop controller is a proportional-integral-derivative-double derivative controller, the type of the primary controller is one of a PID controller or a PI controller, and the type of the secondary controller is the proportional-derivative (PD) controller.
5 . The system of claim 2 , wherein the type of the single-loop controller is a proportional-integral-derivative-double derivative controller, the type of the primary controller is one of a PD controller or a proportional (P) controller, and the type of the secondary controller is the PID controller.
6 . The system of claim 2 , wherein the type of the single-loop controller is a proportional-integral-derivative-double integral controller, the type of the primary controller is one of a PID controller or a PI controller, and the type of the secondary controller is a PI controller.
7 . The system of claim 2 , wherein the type of the single-loop controller is a PID controller, the type of the primary controller is one of a PID controller or a PI controller, and the type of the secondary controller is a P controller.
8 . The system of claim 2 , wherein the type of the single-loop controller is a PID controller, the type of the primary controller is one of a PD controller or a P controller, and the type of the secondary controller is a PI controller.
9 . The system of claim 2 , wherein the type of the single-loop controller is a proportional-derivative-double derivative controller, the type of the primary controller is one of a PD controller or a P controller, and the type of the secondary controller is a PD controller.
10 . The system of claim 1 , further comprising the second computer including a second processor and a second memory storing instructions such that the second computer is programmed to actuate a vehicle component based on the calibration parameters for the cascade controller.
11 . The system of claim 1 , wherein the instructions further include instructions to determine the calibration parameters for the single-loop controller based on one of a) a user input specifying the calibration parameters, or b) simulation data.
12 . A method, comprising:
converting calibration parameters for a cascade controller to calibration parameters for a single-loop controller, wherein the cascade controller includes a primary controller and a secondary controller, and respective calibration parameters of the primary controller and the secondary control of the cascade controller are converted to the calibration parameters of the single-loop controller;
determining the calibration parameters for a single-loop controller so as to minimize difference between an input to the single-loop controller and a response from the single-loop controller;
converting the determined calibration parameters for the single-loop controller to updated calibration parameters for the cascade controller; and
providing the updated calibration parameters for the cascade controller to a second computer in a vehicle;
wherein the second computer can be programmed to update calibration parameters for the cascade controller periodically when instructed by the computer.
13 . The method of claim 12 , further comprising selecting a type of one of the single-loop controller or the cascade controller based on a type of the other of the single-loop controller or the cascade controller, wherein the type of the cascade controller is defined by a type of the primary controller and a type of the secondary controller.
14 . The method of claim 13 , wherein the type of the single-loop controller is a proportional-integral-derivative-double integral-double derivative controller, the type of primary controller is one of a proportional-integral-derivative (PID) controller or a proportional-integral (PI) controller, and the type of the secondary controller is a PID controller.
15 . The method of claim 13 , wherein the type of the single-loop controller is a proportional-integral-derivative-double derivative controller, the type of the primary controller is one of a PID controller or a PI controller, and the type of the secondary controller is the proportional-derivative (PD) controller.
16 . The method of claim 13 , wherein the type of the single-loop controller is a proportional-integral-derivative-double derivative controller, the type of the primary controller is one of a PD controller or a proportional (P) controller, and the type of the secondary controller is the PID controller.
17 . The method of claim 13 , wherein the type of the single-loop controller is a proportional-integral-derivative-double integral controller, the type of the primary controller is one of a PID controller or a PI controller, and the type of the secondary controller is a PI controller.
18 . The method of claim 13 , wherein the type of the single-loop controller is a PID controller, the type of the primary controller is one of a PID controller or a PI controller, and the type of the secondary controller is a P controller.
19 . The method of claim 13 , wherein the type of the single-loop controller is a PID controller, the type of the primary controller is one of a PD controller or a P controller, and the type of the secondary controller is a PI controller.
20 . The system of claim 13 , wherein the type of the single-loop controller is a proportional-derivative-double derivative controller, the type of the primary controller is one of a PD controller or a P controller, and the type of the secondary controller is a PD controller.