Method and system for limited time fault tolerant control of actuators based on pre-computed values

1. A method of controlling an actuator, the method comprising:

developing a sequence of actuation commands S(t x ), with a control Electronic Control Unit (ECU) from data obtained before a time interval t x to control the actuator at a plurality of different time intervals t x , t x+1 , t x+2 , . . . , t x+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 t x 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 ( t x )= C ( t x ), C ( t x+1 ), . . . , C ( t x+n );

wherein S(t x ) is the sequence of actuation commands obtained from the data before the time interval t x , and C is an actuation command for a time interval;

sending the sequence of actuation commands S(t x ) obtained from the data before the time interval t x from the control ECU to an actuation ECU;

storing the sequence of actuation commands S(t x ) obtained from the data before the time interval t x in the actuation ECU;

applying the actuation command C(t x ) for the time interval t x from the sequence of actuation commands S(t x ) obtained from the data before the time interval t x , upon the actuation ECU receiving the transmitted sequence of actuation commands S(t x ) from the control ECU;

developing an updated sequence of actuation commands S(t x+1 ), with the control ECU from data obtained before the time interval t x+1 to control the actuator at a plurality of different time intervals t x+1 , t x+2 , . . . , t x+n ;

wherein the updated sequence of actuation commands from the data obtained before the time interval t x+1 for the different time intervals, is equal to:

S ( t x+1 )= C ( t x+1 ), C ( t x+2 ), . . . , C ( t x+n );

sending the updated sequence of actuation commands S(t x+1 ) from the control ECU to an actuation ECU;

applying the actuation command for the time interval t x+1 , from the updated sequence of actuation commands S(t x+1 ), after applying the actuation command for the time interval t x from the sequence of actuation commands S(t x ) and prior to applying any of the remaining actuation commands for time intervals t x+1 , t x+2 , . . . , t x+n from the sequence of actuation commands S(t x ), when the actuation ECU receives the updated sequence of actuation commands S(t x+1 ) at time interval t x+1 from the data obtained before time interval t x+1 ; and

applying the actuation command for a specific time interval t x+1 , t x+2 , . . . , t x+n , from the sequence of actuation commands S(t x ), after applying the actuation command for the time interval t x , from the sequence of actuation commands S(t x ) stored in the actuation ECU, when the actuation ECU is unable to receive the updated sequence of actuation commands S(t x+1 ) at time interval t x+1 from the data obtained before time interval t x+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 t x 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 t x 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 t x 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 t x .

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 t x from the control ECU to the actuation ECU.

6. A method as set forth in claim 5 further comprising sensing data before time interval t x+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 t x+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 t x+1 is further defined as processing sensed data obtained before time interval t x+1 with the control ECU to develop the sequence of actuation commands obtained from the corresponding data sensed before time interval t x+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 t x+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(t x+1 ) obtained from data at time interval t x+1 in the actuation ECU.

12. A method as set forth in claim 11 further comprising deleting the sequence of actuation commands S(t x ) obtained from data at the time interval t x from the memory of the actuation ECU upon the actuation ECU receiving the updated sequence of actuation commands S(t x+1 ) obtained from data at time interval t x+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(t x ) from the data obtained before a time interval t x to control the actuator at a plurality of different time intervals t x , t x+1 , t x+2 , . . . t x+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 t x 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 ( t x )= C ( t x ), C ( t x+1 ), . . . C ( t x+n );

wherein S(t x ) is the sequence of actuation commands obtained from the data before the time interval t x , C is an actuation command for a specific time interval; and

an 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(t x ) obtained from the data before the time interval t x , and

apply the actuation command for the time interval t x from the sequence of actuation commands S(t x ) stored in the actuation ECU;

apply an actuation command for time interval t x+1 , from an updated sequence of actuation commands S(t x+1 ), when the actuation ECU receives the updated sequence of actuation commands S(t x+1 ) from data obtained before time interval t x+1 from the control ECU, after applying the actuation command for the time interval t x from the sequence of actuation commands S(t x ) and prior to applying any of the actuation commands for any other time interval t x+1 , t x+2 , . . . t x+n from the sequence of actuation commands S(t x );

apply the actuation command for a specific time interval t x+1 , t x+2 , . . . t x+n from the sequence of actuation commands S(t x ) stored in the actuation ECU, when the actuation ECU is unable to receive the updated sequence of actuation commands S(t x+1 ) at time interval t x+1 from data obtained before time interval t x+1 to provide continued control of the actuator for n time intervals; and

delete the sequence of actuation commands S(t x ) from data obtained before the time interval t x upon the actuation ECU receiving the updated sequence of actuation commands S(t x+1 ) from data obtained before the time interval t x+1 .