Method and apparatus for estimating disturbance of control system based on input/output data

12111,647

17/553951

December 17, 2021

Disclosed is an apparatus for estimating disturbance flowing into a control system on the basis of input/output data. The apparatus includes an input unit, and an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (u) from the acquired output data, based on a system model matrix corresponding to an input/output relation model of the control system. Accordingly, efficiency of the apparatus may be improved.

DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY (Daegu, KR)

DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY (Daegu, KR)

1. A method of estimating disturbance flowing into a control system, based on input/output data; the method comprising: generating a system model matrix corresponding to an input/output relation model of the control system; inputting input data (u) into the control system and acquiring output data; estimating the input data (u) from the acquired output data, based on the system model matrix; and estimating a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter, wherein the system model matrix includes two reference sampling matrixes (U p , U f) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Y p , Y f) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data, wherein the estimating of the input data (u) comprises estimating the input data (u), based on [Equation 1] of [mathematical expression included]  and [Equation 2] of U f ·g=û, and wherein g denotes a variable derived by [Equation 1], u ini denotes an additional input data matrix, y ini denotes an additional output data matrix, y denotes acquired output data, and ûdenotes estimated input data.

2. The method of claim 1 , wherein the estimating of the disturbance signal comprises estimating the disturbance signal by comparing the estimated input data (û) and initial input data (u c) that is not influenced by disturbance.

3. The method of claim 2 , further comprising, after the estimating of the disturbance signal, reflecting subtraction of the estimated disturbance signal in next input data to be applied in the control system.

4. An apparatus for estimating disturbance flowing into a control system, based on input/output data, the apparatus comprising: a generator configured to generate a system model matrix corresponding to an input/output relation model of the control system; an input unit; and an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (u) from the acquired output data, based on the system model matrix, wherein the estimator is configured to estimate a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter, wherein the system model matrix includes two reference sampling matrixes (U p , U f) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Y p , Y f) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data, wherein the estimator is configured to estimate the input data (u), based on [Equation 3] of [mathematical expression included]  and [Equation 4] of U f ·g=û, and wherein g denotes a variable derived by [Equation 3], u ini denotes an additional input data matrix, y ini denotes an additional output data matrix, y denotes acquired output data, and û denotes estimated input data.

5. The apparatus of claim 4 , wherein the estimator is configured to estimate the disturbance signal by comparing the estimated input data (û) and initial input data (u c) that is not influenced by disturbance.

6. An apparatus for compensating for disturbance flowing into a control system, based on input/output data, the apparatus comprising: a generator configured to generate the system model matrix corresponding to an input/output relation model of the control system; an input unit; an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (a) from the acquired output data, based on the system model matrix corresponding to an input/output relation model of the control system; and at least one processor, wherein the estimator is configured to estimate a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter, wherein the processor is configured to control the input unit to reflect subtraction of the estimated disturbance signal in next input data of the control system, wherein the system model matrix includes two reference sampling matrixes (U p , U f) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Y p , Y f) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data, wherein the estimator is configured to estimate the input data (u), based on [Equation 5] of [mathematical expression included]  and [Equation 6] of U f ·g=û, and wherein g denotes a predetermined variable and is derived by [Equation 5], u ini denotes an additional input data matrix, y ini denotes an additional output data matrix, y denotes acquired output data, and û denotes estimated input data.

7. The apparatus of claim 6 , further comprising a mode switch configured to change a first mode in which a disturbance signal is estimated and a second mode in which the estimated signal is compensated for, wherein the processor is configured to control the mode switch to operate in the second mode when the disturbance signal is generated in the first mode.

8. The apparatus of claim 6 , wherein the estimator is configured to estimate the disturbance signal by comparing the estimated input data (û) and initial input data (u c) that is not influenced by disturbance.

6094602 July 2000 Schade, III
20050096793 May 2005 Takeuchi
20080221710 September 2008 Brunell
20220027726 January 2022 Yamashita
20220058312 February 2022 Iwata
20220188401 June 2022 Kanai
1998-0004823 March 1998
10-2005-0085225 August 2005
10-2018-0065942 June 2018
10-2019-0010787 January 2019

KIPO, Office Action of the corresponding Korean Patent Application No. 10-2021-0096441 dated May 24, 2023. cited by applicant
Markovsky, Ivan, et al. “Data driven simulation with applications to system identification.” IFAC Proceedings vols. 38.1 (2005): 970-975. cited by applicant

edspgr.12111647