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1. (WO2018182485) A METHOD IN A CONTROL SYSTEM AND A CONTROL SYSTEM INCLUDING MEANS ARRANGED FOR CONTROLLING AT LEAST TWO ACTUATORS

Pub. No.:    WO/2018/182485    International Application No.:    PCT/SE2018/050305
Publication Date: Fri Oct 05 01:59:59 CEST 2018 International Filing Date: Sat Mar 24 00:59:59 CET 2018
IPC: G05B 11/01
F02D 41/14
G05B 11/42
G05B 13/02
Applicants: SCANIA CV AB
Inventors: SUNNEGÅRDH, Erik
JOHANSSON, Magnus
Title: A METHOD IN A CONTROL SYSTEM AND A CONTROL SYSTEM INCLUDING MEANS ARRANGED FOR CONTROLLING AT LEAST TWO ACTUATORS
Abstract:
The present invention relates to a method and a control system (300) including means (121, 122) arranged for controlling at least two actuators (131, 132) based on one reference value a and one measured value η such that a control error ψ is minimized. The method includes determining (210) if the at least two actuators (131, 132) are in a steady state condition. If they are, a first actuator of the at least two actuators which has a shortest response time β is identified (220). Then at least one difference μι< between a first control signal U1 used for controlling the first actuator (131) and at least one second control signal Uk used for controlling at least one second actuator (132) of the at least two actuators (131, 132), respectively, is determined (230). The at least one second control signal Uk is then adjusted by adding the determined at least one difference µk to the at least one second control signal Uk, respectively; Uk = Uk + µk. The first control signal U1 and the at least one second adjusted control signal Uk are then used for controlling the first actuator (131) and the at least one second actuator (132), respectively.