CN117032137A - Generalized condition feedback control method and device, electronic equipment and storage medium - Google Patents

Generalized condition feedback control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN117032137A
CN117032137A CN202311110504.4A CN202311110504A CN117032137A CN 117032137 A CN117032137 A CN 117032137A CN 202311110504 A CN202311110504 A CN 202311110504A CN 117032137 A CN117032137 A CN 117032137A
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controlled
target system
information
set value
feedforward
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戴成博
刘韶杰
李东海
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Tsinghua University
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Tsinghua University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32339—Object oriented modeling, design, analysis, implementation, simulation language
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a generalized conditional feedback control method, a generalized conditional feedback control device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a set value of a target system to be controlled; inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information; and carrying out compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system. By the technical scheme, parallel control of the simulation domain and the actual process is realized, and influence caused by incapability of accurately modeling and uncertainty of a model in industrial process control is reduced.

Description

Generalized condition feedback control method and device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of automatic control technologies, and in particular, to a generalized conditional feedback control method, apparatus, electronic device, and storage medium.
Background
With increasing demands for economy and control quality in industrial processes, more and more control methods have been proposed successively, such as Proportional-Integral-Derivative (PID) and other conventional control methods; advanced control methods such as model predictive control (Model Predictive Control, MPC), decoupling control and the like, and intelligent control methods formed by combining neural networks, deep learning and the like.
At present, in the control of industrial production such as chemical process, thermal process and the like, accurate modeling and model uncertainty cannot be realized, and the application of most advanced control methods and intelligent control methods is greatly limited.
Disclosure of Invention
The invention provides a generalized condition feedback control method, a generalized condition feedback control device, electronic equipment and a storage medium, so as to reduce the influence caused by the fact that accurate modeling cannot be performed and a model is uncertain.
According to an aspect of the present invention, there is provided a generalized conditional feedback control method including:
acquiring a set value of a target system to be controlled;
inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information;
and carrying out compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
According to another aspect of the present invention, there is provided a generalized conditional feedback control apparatus including:
the set value acquisition module is used for acquiring the set value of the target system to be controlled;
the simulation information output module is used for inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information;
and the compensation control module is used for carrying out compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the generalized conditional feedback control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the generalized conditional feedback control method according to any one of the embodiments of the present invention.
According to the technical scheme, the set value of the target system to be controlled is obtained, the set value of the target system to be controlled is further input into the simulation domain, feedforward quantity information and expected information are obtained, and compensation control is performed on the target system to be controlled based on the feedforward quantity information and the expected information, so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled. By the technical scheme, parallel control of the simulation domain and the actual process is realized, and influence caused by incapability of accurately modeling and uncertainty of a model is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a generalized conditional feedback control method according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a generalized conditional feedback control method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of a generalized conditional feedback control method according to a third embodiment of the present invention;
FIG. 4 is a schematic diagram of a generalized conditional feedback structure provided in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of a generalized conditional feedback control method according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a two-capacity coupling tank system according to a fourth embodiment of the present invention;
fig. 7 is a schematic view showing a change in the water level of a second tank according to a fourth embodiment of the present invention;
FIG. 8 is a schematic diagram of a change in water pump power provided according to a fourth embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a generalized conditional feedback control apparatus according to a fifth embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device implementing a generalized conditional feedback control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a generalized conditional feedback control method according to an embodiment of the present invention, where the embodiment is applicable to a case where a simulation domain and an actual process are controlled in parallel, the method may be performed by a generalized conditional feedback control device, and the generalized conditional feedback control device may be implemented in a form of hardware and/or software, and the generalized conditional feedback control device may be configured in a terminal and/or a server. As shown in fig. 1, the method includes:
s110, acquiring a set value of a target system to be controlled.
In this embodiment, the target system to be controlled refers to a system capable of realizing control, which may be a two-capacity coupled water tank system or a system used in other industrial production, and is not limited herein.
For example, the user may input the position setting value of the water tank to be controlled through an input device such as a touch screen, a keyboard or a mouse of the electronic device, for example, the position setting value may be set to 7cm, so that the position height is maintained at 7cm.
S120, inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information.
In this embodiment, the simulation domain is a simulation system for simulating a target system to be controlled, in other words, the feedforward amount information and the desired information are simulation information output by the simulation system. The feedforward amount information refers to the feedforward amount of the power of the pump in the target system. The desired information refers to a desired location of the target system.
And S130, performing compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
In this embodiment, compensation control can be implemented on the target system to be controlled according to the feedforward amount information and the expected information, in other words, as long as the current actual value deviates from the set value, compensation or adjustment can be performed according to the feedforward amount information and the expected information, so that the actual value of the target system is the same as the set value of the target system, thereby improving the accuracy of control.
According to the technical scheme, the set value of the target system to be controlled is obtained, the set value of the target system to be controlled is further input into the simulation domain, feedforward amount information and expected information are obtained, and compensation control is performed on the target system to be controlled based on the feedforward amount information and the expected information, so that the actual value of the target system is the same as the set value of the target system. By the technical scheme, parallel control of the simulation domain and the actual process is realized, and influence caused by incapability of accurately modeling and uncertainty of a model is reduced.
Example two
Fig. 2 is a flowchart of a generalized conditional feedback control method according to a second embodiment of the present invention, where the method according to the present embodiment may be combined with each of the alternatives in the generalized conditional feedback control method provided in the foregoing embodiment. The generalized conditional feedback control method provided by the embodiment is further optimized. Optionally, inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information, including: inputting the set value of the target system to be controlled to a simulation domain controller to obtain feedforward quantity information; and inputting the feedforward quantity information into a simulation model of the target system to be controlled to obtain the expected information.
As shown in fig. 2, the method includes:
s210, acquiring a set value of a target system to be controlled.
S220, inputting the set value of the target system to be controlled to a simulation domain controller to obtain feedforward quantity information.
S230, inputting the feedforward quantity information into a simulation model of a target system to be controlled to obtain expected information.
And S240, performing compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
The simulation domain controller can be a controller formed by any control method, wherein the control method can be a modern control method such as model predictive control (Model Predictive Control, MPC), decoupling control and the like.
Optionally, after inputting the feedforward amount information to the simulation model of the target system to be controlled to obtain the desired information, the method further includes: and feeding the feedforward amount information and the expected information back to the simulation domain controller so that the simulation domain controller outputs the updated feedforward amount information.
The feedforward information and the expected information are fed back to the simulation domain controller, so that dynamic feedback adjustment of the feedforward information is realized, and control accuracy is improved.
According to the technical scheme, the set value of the target system to be controlled is input to the simulation domain controller to obtain the feedforward information, and then the feedforward information is input to the simulation model of the target system to be controlled to obtain the expected information, so that accurate control in a simulation environment is realized.
Example III
Fig. 3 is a flowchart of a generalized conditional feedback control method according to a third embodiment of the present invention, where the method according to the present embodiment may be combined with each of the alternatives in the generalized conditional feedback control method provided in the foregoing embodiment. The generalized conditional feedback control method provided by the embodiment is further optimized. Optionally, the performing compensation control on the target system to be controlled based on the feedforward amount information and the desired information so that an actual value of the target system to be controlled is the same as a set value of the target system to be controlled, including: inputting the expected information to a deviation compensation controller to obtain compensation control quantity information; determining an actual control amount based on the feedforward amount information and the compensation control amount information; and controlling the target system to be controlled to work based on the actual control quantity so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
As shown in fig. 3, the method includes:
s310, acquiring a set value of a target system to be controlled.
S320, inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information.
S330, inputting the expected information to a deviation compensation controller to obtain compensation control quantity information.
In the present embodiment, the deviation compensation controller refers to a controller capable of compensating for a deviation. The compensation control amount information refers to the power compensation control amount of the water pump in the target system.
Specifically, the desired information may be input to the deviation compensation controller as input information to the deviation compensation controller, and the deviation compensation controller may be caused to output the compensation control amount information.
S340, determining an actual control amount based on the feedforward amount information and the compensation control amount information.
The actual control amount refers to the actual control amount of the power of the pump in the target system.
For example, the feedforward amount information and the compensation control amount information may be added to obtain the actual control amount.
And S350, controlling the target system to be controlled to work based on the actual control quantity so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
Optionally, after determining the actual control amount based on the feedforward amount information and the compensation control amount information, the method further includes: inputting the actual control quantity into a mechanism model of a target system to be controlled to obtain actual information; and feeding back the actual information to the deviation compensation controller so that the deviation compensation controller outputs updated compensation control quantity information.
It should be noted that, actual information is fed back to the deviation compensation controller, so that dynamic adjustment of compensation control quantity is realized, and control accuracy is improved.
Fig. 4 is a schematic diagram illustrating a generalized conditional feedback structure provided according to an embodiment of the present invention. Specifically, R (t) represents a set value, U 0 Representing feed-forward amount information, Y 0 Representing desired information, U 1 Represents compensation control amount information, U represents an actual control amount, Y represents an actual value, C 1 Representing a simulation domain controller, C 2 Representing a deviation compensation controller, M s The simulation model for representing the target system to be controlled is specifically:
the mechanism model of the actual process is as follows:
according to the technical scheme, the expected information is input to the deviation compensation controller to obtain the compensation control quantity information, the actual control quantity is determined according to the feedforward quantity information and the compensation control quantity information, and the target system to be controlled is controlled to work according to the actual control quantity, so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled, deviation is eliminated, disturbance is suppressed, and control accuracy is improved.
Example IV
Fig. 5 is a flowchart of a generalized conditional feedback control method according to a fourth embodiment of the present invention, where the method according to the present embodiment is a preferred example of the generalized conditional feedback control method according to the foregoing embodiment. In this embodiment, the target system to be controlled is a two-capacity coupled water tank system, and fig. 6 is a schematic structural diagram of the two-capacity coupled water tank system provided in this embodiment, where the two-capacity coupled water tank system includes, but is not limited to, a water pump, a first water tank, and a second water tank.
In this embodiment, the generalized condition feedback control method includes two parts, namely a simulation domain and an actual process, and a simulation model of a two-capacity coupling water tank system of the simulation domain is:
wherein M is s Representing a simulation model of the target system to be controlled, s representing the laplace operator. Specifically, the simulation model of the target system to be controlled can be obtained by performing an open loop step experiment on the two-capacity coupling water tank system under the nominal industrial control.
The mechanism model of the actual process is as follows:
wherein h is 2r Indicating the position set point of the two-volume coupled water tank system, i.e. the water level set point, u 0 Indicating power feedforward amount information, h 20 Representing desired position information, i.e. desired water level information, u 1 Represents power compensation control amount information, u represents power actual control amount, u=u 0 +u 1 U is in the range of [0,50]，h 1 Represents the water level height of a first water tank in a two-capacity coupling water tank system, h 2 The actual water level of the second tank of the two-tank coupled tank system is represented, and t represents time. The simulation domain controller is a Model Predictive Controller (MPC), wherein the parameters of the model predictive controller include a prediction horizon, a control horizon, and a sampling time. Illustratively, the prediction horizon may be set to 140, the control horizon may be set to 1, and the sampling time may be set to 1s. The deviation compensation controller is a proportional-integral controller (PI), wherein the parameters of the proportional-integral controller include a proportional gain and an integral gain. Illustratively, the proportional gain may be set to 26.54 and the integral gain may be set to 0.4061.
Fig. 7 is a schematic diagram showing a change in the water level of the second tank according to the present embodiment. As can be seen from fig. 7, the water level height (i.e., h) controlled by the generalized conditional feedback control method of the present embodiment 2 ) Than using u alone 0 The height of the water level is closer to the position set value, and the water level control precision is higher. Fig. 8 is a schematic diagram of the change of the water pump power according to the present embodiment.
According to the technical scheme provided by the embodiment of the invention, the water level compensation control of the simulation domain and the actual process in parallel is realized, the water level deviation is eliminated, the disturbance is restrained, and the accuracy of the water level control is improved.
Example five
Fig. 9 is a schematic structural diagram of a generalized conditional feedback control apparatus according to a fifth embodiment of the present invention. As shown in fig. 9, the apparatus includes:
a set value obtaining module 510, configured to obtain a set value of a target system to be controlled;
the simulation information output module 520 is configured to input a set value of the target system to be controlled into a simulation domain, so as to obtain feedforward amount information and expected information;
and a compensation control module 530, configured to perform compensation control on the target system to be controlled based on the feedforward amount information and the desired information, so that an actual value of the target system to be controlled is the same as a set value of the target system to be controlled.
According to the technical scheme, the set value of the target system to be controlled is obtained, the set value of the target system to be controlled is further input into the simulation domain, feedforward amount information and expected information are obtained, and compensation control is performed on the target system to be controlled based on the feedforward amount information and the expected information, so that the actual value of the target system is the same as the set value of the target system. By the technical scheme, parallel control of the simulation domain and the actual process is realized, and influence caused by incapability of accurately modeling and uncertainty of a model is reduced.
In some alternative embodiments, the simulation information output module 520 includes:
the simulation domain control unit is used for inputting the set value of the target system to be controlled to the simulation domain controller to obtain feedforward quantity information;
and the expected determining unit is used for inputting the feedforward quantity information into a simulation model of the target system to be controlled to obtain expected information.
In some alternative embodiments, the simulation information output module 520 further includes:
and the information feedback unit is used for feeding the feedforward quantity information and the expected information back to the simulation domain controller so that the simulation domain controller outputs updated feedforward quantity information.
In some alternative embodiments, the emulation domain controller is a model predictive controller.
In some alternative embodiments, the compensation control module 530 includes:
a compensation control amount determining unit for inputting the desired information to the deviation compensation controller to obtain compensation control amount information;
an actual control amount determining unit configured to determine an actual control amount based on the feedforward amount information and the compensation control amount information;
and the system control unit is used for controlling the target system to be controlled to work based on the actual control quantity so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
In some alternative embodiments, the compensation control module 530 further includes:
the actual value acquisition unit is used for inputting the actual control quantity to a mechanism model of the target system to be controlled to obtain actual information;
and the compensation control quantity updating unit is used for feeding back the actual information to the deviation compensation controller so that the deviation compensation controller outputs the updated compensation control quantity information.
In some alternative embodiments, the bias compensation controller is a proportional-integral controller.
The generalized conditional feedback control device provided by the embodiment of the invention can execute the generalized conditional feedback control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example six
Fig. 10 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 10, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An I/O interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the generalized conditional feedback control method, which includes:
acquiring a set value of a target system to be controlled;
inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information;
and carrying out compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
In some embodiments, the generalized conditional feedback control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the generalized conditional feedback control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the generalized conditional feedback control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A generalized conditional feedback control method, comprising:
acquiring a set value of a target system to be controlled;
inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information;
and carrying out compensation control on the system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
2. The method according to claim 1, wherein the inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward amount information and desired information includes:
inputting the set value of the target system to be controlled to a simulation domain controller to obtain feedforward quantity information;
and inputting the feedforward quantity information into a simulation model of the target system to be controlled to obtain the expected information.
3. The method according to claim 2, further comprising, after the inputting the feedforward amount information to the simulation model of the target system to be controlled, obtaining desired information:
and feeding back the feedforward amount information and the expected information to the simulation domain controller so that the simulation domain controller outputs updated feedforward amount information.
4. A method according to any of claims 2-3, wherein the simulation domain controller is a model predictive controller.
5. The method according to claim 1, wherein the compensation control of the target system to be controlled based on the feedforward amount information and the desired information so that an actual value of the target system to be controlled is the same as a set value of the target system to be controlled, comprises:
inputting the expected information to a deviation compensation controller to obtain compensation control quantity information;
determining an actual control amount based on the feedforward amount information and the compensation control amount information;
and controlling the target system to be controlled to work based on the actual control quantity so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
6. The method according to claim 5, characterized by further comprising, after said determining an actual control amount based on said feedforward amount information and said compensation control amount information:
inputting the actual control quantity to a mechanism model of a target system to be controlled to obtain actual information;
and feeding back the actual information to the deviation compensation controller so that the deviation compensation controller outputs updated compensation control quantity information.
7. The method of any one of claims 5-6, wherein the bias compensation controller is a proportional-integral controller.
8. A generalized conditional feedback control apparatus, comprising:
the set value acquisition module is used for acquiring the set value of the target system to be controlled;
the simulation information output module is used for inputting the set value of the target system to be controlled into a simulation domain to obtain feedforward quantity information and expected information;
and the compensation control module is used for carrying out compensation control on the target system to be controlled based on the feedforward quantity information and the expected information so that the actual value of the target system to be controlled is the same as the set value of the target system to be controlled.
9. An electronic device, the electronic device comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the generalized conditional feedback control method of any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the generalized conditional feedback control method according to any one of claims 1-7 when executed.
CN202311110504.4A 2023-08-30 2023-08-30 Generalized condition feedback control method and device, electronic equipment and storage medium Pending CN117032137A (en)

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CN202311110504.4A CN117032137A (en) 2023-08-30 2023-08-30 Generalized condition feedback control method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311110504.4A CN117032137A (en) 2023-08-30 2023-08-30 Generalized condition feedback control method and device, electronic equipment and storage medium

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Publication Number Publication Date
CN117032137A true CN117032137A (en) 2023-11-10

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