A generalized conditional feedback control method and device, electronic equipment and storage medium

Abstract

This invention discloses a generalized conditional feedback control method, device, electronic device, and storage medium. The method includes: acquiring a setpoint for a target system to be controlled; inputting the setpoint into a simulation domain to obtain feedforward information and desired information; and performing compensatory control on the target system based on the feedforward information and the desired information, so that the actual value of the target system is the same as the setpoint. Through this technical solution, parallel control of the simulation domain and the actual process is achieved, reducing the impact of inaccurate modeling and model uncertainty in industrial process control.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a generalized conditional feedback control method, device, electronic device, and storage medium. Background Technology

[0002] With the increasing demands for economic efficiency and control quality in industrial production processes, more and more control methods have been proposed, such as traditional control methods like Proportional-Integral-Derivative (PID); advanced control methods like Model Predictive Control (MPC) and decoupling control; and intelligent control methods combining neural networks and deep learning.

[0003] Currently, the inability to accurately model and the uncertainty of models in the control of industrial production processes such as chemical and thermal processes greatly limit the application of most advanced control methods and intelligent control methods. Summary of the Invention

[0004] This invention provides a generalized conditional feedback control method, device, electronic device, and storage medium to reduce the impact of inaccurate modeling and model uncertainty.

[0005] According to one aspect of the present invention, a generalized conditional feedback control method is provided, comprising:

[0006] Obtain the setpoints of the target system to be controlled;

[0007] The setpoint of the target system to be controlled is input into the simulation domain to obtain feedforward information and desired information;

[0008] Based on the feedforward information and the desired information, the target system to be controlled is subjected to compensation control 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.

[0009] According to another aspect of the present invention, a generalized conditional feedback control device is provided, comprising:

[0010] The setpoint acquisition module is used to acquire the setpoints of the target system to be controlled;

[0011] The simulation information output module is used to input the set value of the target system to be controlled into the simulation domain to obtain feedforward information and expected information;

[0012] The compensation control module is used to perform compensation control on the target system to be controlled based on the feedforward 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.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor;

[0015] and a memory communicatively connected to the at least one processor;

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the generalized conditional feedback control method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the generalized conditional feedback control method according to any embodiment of the present invention.

[0018] The technical solution of this invention obtains the setpoint of the target system to be controlled, then inputs the setpoint into the simulation domain to obtain feedforward information and desired information. Based on the feedforward information and desired information, compensatory control is performed on the target system to ensure that the actual value of the target system is the same as its setpoint. This technical solution achieves parallel control between the simulation domain and the actual process, reducing the impact of inaccurate modeling and model uncertainty.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 2 of the present invention;

[0023] Figure 3This is a flowchart of a generalized conditional feedback control method provided in Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of a generalized conditional feedback structure provided by an embodiment of the present invention;

[0025] Figure 5 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 4 of the present invention;

[0026] Figure 6 This is a schematic diagram of a two-tank coupling system according to Embodiment 4 of the present invention;

[0027] Figure 7 This is a schematic diagram illustrating the change in the water level height of the second water tank according to Embodiment 4 of the present invention;

[0028] Figure 8 This is a schematic diagram of the change in water pump power according to Embodiment 4 of the present invention;

[0029] Figure 9 This is a schematic diagram of the structure of a generalized conditional feedback control device according to Embodiment 5 of the present invention;

[0030] Figure 10 This is a schematic diagram of the structure of an electronic device that implements the generalized conditional feedback control method of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] Figure 1 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of parallel control of the simulation domain and the actual process. The method can be executed by a generalized conditional feedback control device, which can be implemented in hardware and / or software, and can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0035] S110. Obtain the setpoints of the target system to be controlled.

[0036] In this embodiment, the target system to be controlled refers to a system that can be controlled. It can be a two-tank coupled water system or other systems used in industrial production, and no specific limitation is made here.

[0037] For example, a user can input the position setting value of the water tank to be controlled through an input device such as a touch screen, keyboard or mouse of an electronic device. For example, the position setting value can be set to 7cm so that the position height is kept at 7cm.

[0038] S120. Input the set value of the target system to be controlled into the simulation domain to obtain feedforward information and expected information.

[0039] In this embodiment, the simulation domain is a simulation system used to simulate the target system to be controlled. In other words, the feedforward information and the desired information are simulation information output by the simulation system. The feedforward information refers to the power feedforward of the pump in the target system. The desired information refers to the desired position of the target system.

[0040] S130. Based on the feedforward information and the desired information, perform compensatory control on the target system to be controlled 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.

[0041] In this embodiment, the target system can be compensated for based on the feedforward information and the desired information. In other words, as long as there is a deviation between the current actual value and the set value, compensation or adjustment will be made based on the feedforward information and the desired information to make the actual value of the target system the same as the set value of the target system, thereby improving the accuracy of control.

[0042] The technical solution of this invention obtains the setpoint of the target system to be controlled, then inputs the setpoint into the simulation domain to obtain feedforward information and desired information. Based on the feedforward information and desired information, compensatory control is performed on the target system to ensure that the actual value of the target system matches its setpoint. This technical solution achieves parallel control between the simulation domain and the actual process, reducing the impact of inaccurate modeling and model uncertainty.

[0043] Example 2

[0044] Figure 2 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 2 of the present invention. The method in this embodiment can be combined with various optional schemes in the generalized conditional feedback control method provided in the above embodiments. The generalized conditional feedback control method provided in this embodiment has been further optimized. Optionally, the setpoint of the target system to be controlled is input into the simulation domain to obtain feedforward information and desired information, including: inputting the setpoint of the target system to be controlled into the simulation domain controller to obtain feedforward information; and inputting the feedforward information into the simulation model of the target system to be controlled to obtain desired information.

[0045] like Figure 2 As shown, the method includes:

[0046] S210. Obtain the setpoints of the target system to be controlled.

[0047] S220. Input the set value of the target system to be controlled to the simulation domain controller to obtain feedforward information.

[0048] S230. Input the feedforward information into the simulation model of the target system to be controlled to obtain the desired information.

[0049] S240. Based on the feedforward information and the desired information, perform compensatory control on the target system to be controlled 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.

[0050] The simulation domain controller can be a controller composed of any control method, which can be a modern control method such as Model Predictive Control (MPC) or decoupling control.

[0051] Optionally, after inputting the feedforward information into the simulation model of the target system to be controlled and obtaining the desired information, the method further includes: feeding back the feedforward information and the desired information to the simulation domain controller so that the simulation domain controller outputs the updated feedforward information.

[0052] It should be noted that by feeding forward and desired information back to the simulation domain controller, dynamic feedback adjustment of the forward information is achieved, thereby improving the accuracy of control.

[0053] The technical solution of this invention achieves precise control in a simulation environment by inputting the set value of the target system to be controlled into the simulation domain controller to obtain feedforward information, and then inputting the feedforward information into the simulation model of the target system to obtain the desired information.

[0054] Example 3

[0055] Figure 3 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 3 of the present invention. The method in this embodiment can be combined with various optional schemes in the generalized conditional feedback control method provided in the above embodiments. The generalized conditional feedback control method provided in this embodiment has been further optimized. Optionally, the step of performing compensation control on the target system to be controlled based on the feedforward information and the desired 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, includes: inputting the desired information to the deviation compensation controller to obtain compensation control quantity information; determining the actual control quantity based on the feedforward information and the compensation control quantity information; and controlling the target system to be controlled to operate 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.

[0056] like Figure 3 As shown, the method includes:

[0057] S310, Obtain the setpoints of the target system to be controlled.

[0058] S320. Input the set value of the target system to be controlled into the simulation domain to obtain feedforward information and desired information.

[0059] S330. Input the desired information into the deviation compensation controller to obtain compensation control quantity information.

[0060] In this embodiment, the deviation compensation controller refers to a controller capable of compensating for deviations. The compensation control quantity information refers to the power compensation control quantity of the water pump in the target system.

[0061] Specifically, the desired information can be used as the input information of the deviation compensation controller, and the desired information can be input to the deviation compensation controller so that the deviation compensation controller outputs compensation control information.

[0062] S340. Determine the actual control quantity based on the feedforward quantity information and the compensation control quantity information.

[0063] Among them, the actual control quantity refers to the actual control quantity of the pump power in the target system.

[0064] For example, the feedforward information and the compensation control information can be added together to obtain the actual control quantity.

[0065] S350. Control 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.

[0066] Optionally, after determining the actual control quantity based on the feedforward information and the compensation control quantity information, the method further includes: inputting the actual control quantity into the mechanism model of the target system to be controlled to obtain the actual information; and feeding the actual information back to the deviation compensation controller so that the deviation compensation controller outputs the updated compensation control quantity information.

[0067] It should be noted that by feeding back the actual information to the deviation compensation controller, the compensation control quantity is dynamically adjusted, thereby improving the accuracy of the control.

[0068] For example, Figure 4 This is a schematic diagram of a generalized conditional feedback structure provided by an embodiment of the present invention. Specifically, R(t) represents the setpoint, U0 represents the feedforward information, Y0 represents the desired information, U1 represents the compensation control information, U represents the actual control quantity, Y represents the actual value, C1 represents the simulation domain controller, C2 represents the deviation compensation controller, and M... s The simulation model of the target system to be controlled is as follows:

[0069]

[0070] The actual process mechanism model is as follows:

[0071]

[0072] The technical solution of this invention involves inputting desired information into a deviation compensation controller to obtain compensation control quantity information. Then, based on the feedforward quantity information and the compensation control quantity information, the actual control quantity is determined. Finally, the target system to be controlled is controlled according to the actual control quantity to ensure that the actual value of the target system is the same as the set value of the target system, thereby eliminating deviation and suppressing disturbances, and thus improving the accuracy of control.

[0073] Example 4

[0074] Figure 5 This is a flowchart of a generalized conditional feedback control method provided in Embodiment 4 of the present invention. The method in this embodiment is a preferred example of the generalized conditional feedback control method provided in the above embodiments. In this embodiment, the target system to be controlled is a two-tank coupled water system. Figure 6 This is a schematic diagram of a two-tank coupled water tank system provided in this embodiment. The two-tank coupled water tank system includes, but is not limited to, a water pump, a first water tank, and a second water tank.

[0075] In this embodiment, the generalized conditional feedback control method includes two parts: a simulation domain and an actual process. The simulation model of the two-tank coupled water system in the simulation domain is as follows:

[0076]

[0077] Among them, M s Let represent the simulation model of the target system to be controlled, and s represent the Laplace operator. Specifically, the simulation model of the target system to be controlled can be obtained by conducting an open-loop step experiment on a two-tank coupled water system under nominal industrial control.

[0078] The actual process mechanism model is as follows:

[0079]

[0080] Among them, h 2r This represents the position setpoint of the two-tank coupled water system, i.e., the water level setpoint; u0 represents the power feedforward information; h 20 The expected location information, i.e., the expected water level information, is represented by u1, the power compensation control quantity information is represented by u, and the actual power control quantity is represented by u = u0 + u1, with the range of u being [0, 50]. h1 represents the water level height of the first tank in the two-tank coupled system, h2 represents the actual water level height of the second tank in the two-tank coupled system, and t represents time. The simulation domain controller is a model predictive controller (MPC), whose parameters include the prediction time domain, control time domain, and sampling time. For example, the prediction time domain can be set to 140, the control time domain can be set to 1, and the sampling time can be set to 1s. The deviation compensation controller is a proportional-integral (PI) controller, whose parameters include the proportional gain and the integral gain. For example, the proportional gain can be set to 26.54, and the integral gain can be set to 0.4061.

[0081] Figure 7 This is a schematic diagram illustrating the change in water level in the second water tank provided in this embodiment. Figure 7 It can be seen that the water level height (i.e., h2) controlled by the generalized conditional feedback control method in this embodiment is closer to the position set value than the water level height controlled by u0 alone, and the water level control accuracy is higher. Figure 8 This is a schematic diagram illustrating the change in water pump power provided in this embodiment.

[0082] The technical solution of this invention realizes water level compensation control that runs in parallel with the simulation domain and the actual process, eliminates water level deviation and suppresses disturbances, and improves the accuracy of water level control.

[0083] Example 5

[0084] Figure 9 This is a schematic diagram of a generalized conditional feedback control device provided in Embodiment 5 of the present invention. Figure 9 As shown, the device includes:

[0085] The setpoint acquisition module 510 is used to acquire the setpoint of the target system to be controlled.

[0086] The simulation information output module 520 is used to input the set value of the target system to be controlled into the simulation domain to obtain feedforward information and expected information;

[0087] The compensation control module 530 is used to perform compensation control on the target system to be controlled based on the feedforward information and the desired 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.

[0088] The technical solution of this invention obtains the setpoint of the target system to be controlled, then inputs the setpoint into the simulation domain to obtain feedforward information and desired information. Based on the feedforward information and desired information, compensatory control is performed on the target system to ensure that the actual value of the target system matches the setpoint. This technical solution achieves parallel control between the simulation domain and the actual process, reducing the impact of inaccurate modeling and model uncertainty.

[0089] In some alternative implementations, the simulation information output module 520 includes:

[0090] The simulation domain control unit is used to input the set value of the target system to be controlled to the simulation domain controller to obtain feedforward information.

[0091] The expectation determination unit is used to input the feedforward information into the simulation model of the target system to be controlled, and obtain the expectation information.

[0092] In some optional implementations, the simulation information output module 520 further includes:

[0093] An information feedback unit is used to feed back the feedforward information and the desired information to the simulation domain controller, so that the simulation domain controller outputs updated feedforward information.

[0094] In some alternative implementations, the simulation domain controller is a model predictive controller.

[0095] In some alternative implementations, the compensation control module 530 includes:

[0096] The compensation control quantity determination unit is used to input the desired information to the deviation compensation controller to obtain compensation control quantity information;

[0097] The actual control quantity determination unit is used to determine the actual control quantity based on the feedforward quantity information and the compensation control quantity information;

[0098] The system control unit is used to control the target system to operate 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.

[0099] In some alternative implementations, the compensation control module 530 further includes:

[0100] The actual value acquisition unit is used to input the actual control quantity into the mechanism model of the target system to be controlled, and obtain the actual information.

[0101] The compensation control quantity update unit is used to feed back the actual information to the deviation compensation controller so that the deviation compensation controller outputs the updated compensation control quantity information.

[0102] In some alternative implementations, the deviation compensation controller is a proportional-integral controller.

[0103] The generalized conditional feedback control device provided in the embodiments of the present invention can execute the generalized conditional feedback control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0104] Example 6

[0105] Figure 10 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0106] like Figure 10As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An I / O interface 15 is also connected to the bus 14.

[0107] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0108] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with 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 special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a generalized conditional feedback control method, which includes:

[0109] Obtain the setpoints of the target system to be controlled;

[0110] The setpoint of the target system to be controlled is input into the simulation domain to obtain feedforward information and desired information;

[0111] Based on the feedforward information and the desired information, the target system to be controlled is subjected to compensation control 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.

[0112] In some embodiments, the generalized conditional feedback control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or 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, processor 11 may be configured to perform the generalized conditional feedback control method by any other suitable means (e.g., by means of firmware).

[0113] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs used to implement the 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, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0116] To provide interaction with a user, the systems and techniques described herein 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 the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0117] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0118] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0119] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0120] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A generalized conditional feedback control method, characterized in that, include: Obtain the setpoints of the target system to be controlled; The setpoint of the target system to be controlled is input into the simulation domain to obtain feedforward information and desired information; Based on the feedforward information and the desired information, the target system to be controlled is subjected to compensation control 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 step of performing compensatory control on the target system based on the feedforward information and the desired information, so as to make the actual value of the target system the same as the set value of the target system, includes: The desired information is input into the deviation compensation controller to obtain the compensation control quantity information; The actual control quantity is determined based on the feedforward quantity information and the compensation control quantity information; The target system to be controlled is controlled 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.

2. The method according to claim 1, characterized in that, The step of inputting the setpoint of the target system to be controlled into the simulation domain to obtain feedforward information and desired information includes: The setpoint of the target system to be controlled is input to the simulation domain controller to obtain feedforward information; The feedforward information is input into the simulation model of the target system to be controlled to obtain the desired information.

3. The method according to claim 2, characterized in that, After inputting the feedforward information into the simulation model of the target system to be controlled to obtain the desired information, the method further includes: The feedforward information and the desired information are fed back to the simulation domain controller so that the simulation domain controller outputs updated feedforward information.

4. The method according to any one of claims 2-3, characterized in that, The simulation domain controller is a model predictive controller.

5. The method according to claim 1, characterized in that, After determining the actual control quantity based on the feedforward information and the compensation control quantity information, the method further includes: The actual control quantity is input into the mechanism model of the target system to be controlled to obtain the actual information; The actual information is fed back to the deviation compensation controller so that the deviation compensation controller outputs updated compensation control information.

6. The method according to any one of claims 1 or 5, characterized in that, The deviation compensation controller is a proportional-integral controller.

7. A generalized conditional feedback control device, characterized in that, include: The setpoint acquisition module is used to acquire the setpoints of the target system to be controlled; The simulation information output module is used to input the set value of the target system to be controlled into the simulation domain to obtain feedforward information and expected information; The compensation control module is used to perform compensation control on the target system to be controlled based on the feedforward 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 compensation control module includes: The compensation control quantity determination unit is used to input the desired information to the deviation compensation controller to obtain compensation control quantity information; The actual control quantity determination unit is used to determine the actual control quantity based on the feedforward quantity information and the compensation control quantity information; The system control unit is used to control the target system to operate 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.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed 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 claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the generalized conditional feedback control method according to any one of claims 1-6.

Images