Storage ring track feedback control method, system and equipment and storage medium

Abstract

The invention discloses a storage ring orbit feedback control method, system and device and a storage medium, which are one-to-one corresponding schemes, and in the scheme, an input matrix, a diagonal matrix and an output matrix are generated based on generalized singular value decomposition fast and slow orbit response matrixes; the input matrix maps an input signal to a feature space, then the input signal is respectively input into the corresponding response modules for parallel processing, the two response modules respectively adjust each modulus according to the input mapped matrix and the diagonal matrix, and respectively calculate each modulus correction value; and respectively mapping each modulus correction value to a correction iron vector space by combining an output matrix, and outputting the modulus correction values to a corresponding correction power supply. According to the scheme, on the basis of generalized singular value decomposition, the problems of mutual competition and interference between systems caused by coupling between fast and slow track feedback systems are eliminated, and the long-term stability of operation of the storage ring track feedback system is improved; and fast track feedback and slow track feedback are integrated, so that the number of system equipment and the wiring complexity are reduced.

Description

Technical Field

[0001] The present invention relates to the field of accelerator control technology, and in particular to a storage ring orbit feedback control method, system, device and storage medium. Background Art

[0002] A stable beam trajectory is a prerequisite for the stable operation of a synchrotron radiation source and the provision of optimal synchrotron radiation. To meet the requirements for hundred-nanometer-level trajectory stability, in addition to designing and manufacturing high-precision magnets, power supplies, and support devices, a global trajectory feedback system provides real-time trajectory correction based on the deviation of the beam position from the ideal trajectory. This is an essential technology for the next generation of light sources.

[0003] Global orbit feedback systems are divided into slow orbit feedback systems (SOFB) and fast orbit feedback systems (FOFB). SOFB systems have low response time requirements for system equipment and are typically implemented based on the accelerator's universal control network. They are primarily used to suppress slow orbit drift caused by foundation settlement, temperature changes, and other factors. FOFB systems offer rapid response and are used to suppress high-frequency, small-amplitude orbital perturbations. They require specialized hardware to complete beam position measurement, real-time data transmission, and correction value calculation in a relatively short period of time.

[0004] When the FOFB system and the SOFB system work simultaneously in the low frequency range, they will interfere with each other, eventually leading to system instability. In recent years, various accelerator laboratories have proposed some solutions.

[0005] (1) The first method is to set a frequency dead zone, making the two systems completely independent. For example, the frequency range of the SOFB system is from DC to 0.02 Hz, and the bandwidth of the FOFB system is limited to a minimum of 0.1 Hz. The problem with this solution is that interference in the dead zone is not corrected, and yet inserted equipment, human activities, etc. may cause interference in this frequency range.

[0006] (2) The second method is to use a FOFB system alone, with a bandwidth down to DC. Although this does not have the problem of uncorrected dead zone interference, the correction iron will enter saturation after a few hours or days due to the weak correction strength and limited amplitude range of the fast correction iron.

[0007] (3) The third method is to decompose the DC component of the correction value of the FOFB system into the SOFB system to avoid the fast correction iron entering the saturation state. However, the transfer of the DC component of the correction value will introduce steady-state errors and increase a lot of computational tasks.

[0008] (4) The fourth method is to unify the fast and slow orbit response matrices into a full response matrix and perform decomposition and feedback based on the full response matrix. However, the FOFB system and SOFB system run on two independent hardware devices at different operating frequencies, which greatly weakens the correction effect of the full response matrix.

[0009] In summary, although a series of solutions have been proposed, various problems still exist.

[0010] In view of this, the present invention is proposed. Summary of the Invention

[0011] The purpose of the present invention is to provide a storage ring orbit feedback control method, system, device and storage medium. Based on generalized singular value decomposition, the method eliminates the problems of inter-system competition and interference caused by the coupling between the fast and slow orbit feedback systems, thereby improving the long-term stability of the storage ring orbit feedback system operation; and integrates the fast and slow orbit feedback into one, reducing the number of system devices and the complexity of wiring.

[0012] The purpose of the present invention is achieved through the following technical solutions:

[0013] A storage ring orbit feedback control method, comprising:

[0014] Perform generalized singular value decomposition on the response matrices of the slow-orbit feedback system and the fast-orbit feedback system of the storage ring to obtain the input matrix, as well as the diagonal matrices and output matrices corresponding to the slow-orbit feedback system and the fast-orbit feedback system, respectively.

[0015] The input signal is mapped to the characteristic modulus space through the input matrix, and the mapped matrix is input into the response modules corresponding to the slow track feedback system and the fast track feedback system respectively;

[0016] The two response modules are processed in parallel. In each response module, each modulus is adjusted according to the input mapped matrix and the corresponding diagonal matrix, and each modulus correction value is calculated respectively. Then, each modulus correction value is mapped to the correction iron vector space in combination with the corresponding output matrix and output to the corresponding correction power supply.

[0017] A storage ring orbit feedback control system, used to implement the aforementioned method, comprising:

[0018] A generalized singular value decomposition module is used to perform generalized singular value decomposition on the response matrices of the slow orbit feedback system and the fast orbit feedback system of the storage ring to obtain the input matrix, the diagonal matrix corresponding to the slow orbit feedback system and the fast orbit feedback system, and the output matrix;

[0019] An input mapping module, configured to map the input signal to the characteristic modulus space through the input matrix, and input the mapped matrix to the response modules corresponding to the slow track feedback system and the fast track feedback system respectively;

[0020] The two response modules are processed in parallel. In each response module, each modulus is adjusted according to the input mapped matrix and the corresponding diagonal matrix, and each modulus correction value is calculated respectively. Then, each modulus correction value is mapped to the correction iron vector space in combination with the corresponding output matrix and output to the corresponding correction power supply.

[0021] A processing device comprising: one or more processors; a memory for storing one or more programs;

[0022] When the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned method.

[0023] A readable storage medium stores a computer program, which implements the aforementioned method when the computer program is executed by a processor.

[0024] As can be seen from the technical solution provided by the present invention described above, generalized singular value decomposition is performed on the response matrices of the storage ring's fast and slow orbit feedback systems to eliminate the inter-system competition and interference caused by the coupling between the fast and slow orbit feedback systems, thereby improving the long-term stability of the storage ring orbit feedback system. The basic concept is to decompose the fast and slow orbit feedback systems into a unified eigenspace. The diagonal matrix restricts the two systems to complementary contributions under each eigenmode, thereby eliminating the inter-system competition and interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A flow chart of a storage ring orbit feedback control method provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the processing flow of the input mapping and two response modules provided in an embodiment of the present invention;

[0028] Figure 3 Schematic diagram of a track feedback simulation test system constructed in a simulation experiment provided by an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of simulation results provided by an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of a storage ring orbit feedback control system provided by an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of a processing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] First, the following terms may be used in this article:

[0034] The terms "include," "comprises," "contains," "has," or other similar expressions should be interpreted as non-exclusive. For example, "including certain technical features (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products, or manufactured articles, etc.) should be interpreted as including not only the technical features explicitly listed, but also other technical features known in the art that are not explicitly listed.

[0035] The term "consisting of" excludes any technical features not explicitly listed. If used in a claim, this term renders the claim closed, excluding any technical features other than those explicitly listed, except for conventional impurities associated with them. If this term appears only in a clause of a claim, it limits only the elements explicitly listed in that clause; elements listed in other clauses are not excluded from the claim as a whole.

[0036] The following describes in detail the storage ring orbit feedback control method, system, device, and storage medium provided by the present invention. Any information not described in detail in the present embodiments is prior art known to those skilled in the art. Where specific conditions are not specified in the present embodiments, the process was performed in accordance with conventional conditions in the art or the manufacturer's recommended conditions. Instruments used in the present embodiments, where the manufacturer is not specified, are commercially available conventional products.

[0037] Example 1

[0038] The embodiment of the present invention provides a storage ring orbit feedback control method, such as Figure 1 As shown, it mainly includes the following steps:

[0039] Step 1: Perform generalized singular value decomposition on the response matrices of the slow-orbit feedback system and the fast-orbit feedback system of the storage ring to obtain the input matrix, the diagonal matrix corresponding to the slow-orbit feedback system and the output matrix corresponding to the fast-orbit feedback system.

[0040] In the embodiment of the present invention, the response matrix of the fast track feedback system is recorded as The response matrix of the slow track feedback system is expressed as in, is the symbol of a real number set, p is the number of beam position monitors, m is the number of fast correction irons, and n is the number of slow correction irons.

[0041] In the embodiment of the present invention, the fast correction iron and the slow correction iron are both common technical terms in the art, and belong to the correction iron in the fast track feedback system and the slow track feedback system, respectively.

[0042] Response matrix R f With R s Perform generalized singular value decomposition, expressed as:

[0043]

[0044] Where gsvd is the generalized singular value decomposition, T is the transpose sign, X is the input matrix, C and U correspond to the diagonal matrix and output matrix of the fast track feedback system, respectively, and S and V correspond to the diagonal matrix and output matrix of the slow track feedback system, respectively.

[0045] Step 2: Map the input signal to the characteristic modulus space through the input matrix, and input the mapped matrix into the response modules corresponding to the slow track feedback system and the fast track feedback system respectively.

[0046] In an embodiment of the present invention, the input matrix is multiplied by the input signal to map the input signal to the characteristic modulus space.

[0047] Step 3: The two response modules process in parallel and output to the corresponding correction power supply.

[0048] In an embodiment of the present invention, in each response module, each modulus is adjusted according to the input mapped matrix in combination with the corresponding diagonal matrix, and each modulus correction value is calculated respectively. Then, each modulus correction value is mapped to the correction iron vector space in combination with the corresponding output matrix and output to the corresponding correction power supply.

[0049] In the embodiment of the present invention, the correction iron vector space is a common technical term in this field, which refers to a mathematical space composed of current excitation combinations of all correction irons and is used to describe the control capability of the correction iron on the beam trajectory.

[0050] Specifically: The processing steps of each response module include:

[0051] (1) Compensate the input mapped matrix by inputting a compensation matrix to obtain a compensated matrix.

[0052] In this step, by inputting a compensation matrix, the problem introduced by the non-orthogonality of the input matrix X can be compensated.

[0053] Preferably, for the response module (fast response module) corresponding to the fast track feedback system, the input compensation matrix is Where X is the input matrix, X p×m -1 is the matrix X p×m The inverse matrix of the matrix X p×m is the first m columns of the input matrix X; for the response module corresponding to the slow track feedback system (slow response module), the input compensation matrix is Where X is the input matrix, X p×n -1 is the matrix X p×n The inverse matrix of the matrix X p×n are the first n columns of the input matrix X.

[0054] (2) Regularize the diagonal elements in the corresponding diagonal matrix (which can solve the control imbalance problem caused by the ill-conditioned elements of the response matrix) and then take the inverse, multiply it with the compensated matrix, adjust each modulus, and output the matrix after the modulus adjustment.

[0055] (3) The modulus-adjusted matrix is combined with the controller algorithm to calculate the correction values of each modulus.

[0056] In the embodiment of the present invention, the controller algorithm can be implemented by a conventional algorithm. In actual applications, the user can select a corresponding algorithm based on actual conditions or experience. For example, a PI control algorithm (proportional-integral control algorithm) can be selected as the controller algorithm here.

[0057] (4) Combined with the corresponding output matrix, each modulus correction value is mapped to the correction iron vector space to obtain the corresponding correction iron vector.

[0058] (5) The correction iron vector is output to the corresponding correction power supply through the corresponding output interface.

[0059] Preferably, for the response module corresponding to the fast track feedback system, the corresponding correction iron vector is encoded and parallel-to-serial converted through the communication interface, and then output to the fast correction power supply; for the response module corresponding to the slow track feedback system, the corresponding correction iron vector is passed through the filtering output unit, the rate is reduced, and then output to the slow correction power supply; wherein, the fast correction power supply refers to the correction power supply in the fast track feedback system, and the slow correction power supply refers to the correction power supply in the slow track feedback system.

[0060] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the method provided by the embodiment of the present invention is described in detail below with reference to specific embodiments.

[0061] 1. Overall overview of the plan.

[0062] The solution provided by the embodiment of the present invention generates an input matrix, a diagonal matrix, and an output matrix based on generalized singular value decomposition of the fast and slow orbit response matrices. The input matrix maps the input signal to the feature space, and the mapped matrices are respectively input into the corresponding response modules for parallel processing. The response module corresponding to the fast orbit feedback system is called the fast response module, and the response module corresponding to the slow orbit feedback system is called the slow response module. The fast response module combines the corresponding diagonal matrix and calculates the correction values of each modulus of the mapped matrix based on the controller algorithm. The correction values are then mapped to the fast correction iron vector space through the corresponding output matrix and output through a high-speed communication interface. The slow response module combines the corresponding diagonal matrix and calculates the correction values of each modulus of the mapped matrix based on the controller algorithm. The compensation values are then mapped to the slow correction iron vector space through the output matrix V. The slow correction values are output after filtering and reducing the rate. The above solution, based on generalized singular value decomposition, eliminates the problems of mutual competition and interference between the fast and slow orbit feedback systems caused by coupling, thereby improving the long-term stability of the storage ring orbit feedback system. It also integrates the fast and slow orbit feedback into one, reducing the number of system devices and wiring complexity.

[0063] 2. Detailed introduction of the plan.

[0064] 1. Generalized singular value decomposition.

[0065] In the embodiment of the present invention, the response matrix R of the fast orbit feedback system of the storage ring is mainly f ( is a real number set symbol, p represents the number of beam position monitors, m represents the number of fast correction irons), and the response matrix R of the slow track feedback system s ( The input matrix, the diagonal matrix, and the output matrix are obtained by performing a singular value decomposition of (p represents the number of beam position monitors, n represents the number of slow correction irons).

[0066] The above process is expressed as:

[0067]

[0068] Where gsvd is the generalized singular value decomposition, T is the transpose sign, X is the input matrix (which is a reversible matrix), C and U correspond to the diagonal matrix and output matrix of the fast track feedback system, respectively, and S and V correspond to the diagonal matrix and output matrix of the slow track feedback system, respectively.

[0069] The two diagonal matrices are of the following form:

[0070]

[0071]

[0072] Among them, ∑ f1 and ∑ fm is a diagonal matrix The value of , the 0 on the right represents the 0 matrix Similarly, ∑ s1 and ∑ sn is a diagonal matrix The diagonal values of the matrix are 0.

[0073] Reciprocal the diagonal elements of a resized diagonal matrix:

[0074]

[0075] Thus, the inverse matrix of the response matrix of the fast and slow track feedback system is It can be described as follows:

[0076]

[0077] Among them, X -1 is the inverse matrix of the input matrix X, and are the input compensation matrices corresponding to the fast track feedback system and the slow track feedback system respectively.

[0078] For ease of understanding, the following is an example of the orbital feedback system of the fourth-generation diffraction-limited storage ring, the Hefei Advanced Light Source (HALF). It includes 240 beam position monitors (BPMs), 240 pairs of slow correction irons (both horizontal and vertical), and 80 pairs of fast correction irons (both horizontal and vertical). The horizontal direction is used as an example here, and the vertical direction is similar. The slow orbit response matrix R S ∈R 240×240 , the fast track response matrix R f ∈R 240×80 Slow track response matrix transpose Fast Track Response Matrix Transpose

[0079] By the method described above, we can obtain the diagonal matrix:

[0080]

[0081] Adjust the diagonal elements of the diagonal matrix and take the inverse to get:

[0082]

[0083]

[0084] 2. Input mapping.

[0085] In the embodiment of the present invention, the input signal is mapped to the characteristic modulus space through the input matrix X, and the mapped matrix is input to the fast response module and the slow response module respectively.

[0086] Taking the orbit feedback system of the Hefei Advanced Light Source (HALF) as an example, the input signal Δx∈R 240×1 (BPM measures beam position changes) and the input matrix X -1 The product maps the input position change vector to the feature modulus space.

[0087] 3. Fast response module and slow response module processing.

[0088] like Figure 2 The figure shows the overall processing flow. The fast response module and the slow response module have the same structure, each including: an input compensation unit, a modulus adjustment unit, a control calculation unit, an output mapping unit, and an output interface. For the fast response module, its output interface is a high-speed communication interface, while for the slow response module, its output interface is a filter output unit.

[0089] (1) Rapid response module processing.

[0090] (1.1) By inputting the compensation matrix Multiplying the input mapped matrix with the input matrix compensates for the problem introduced by the non-orthogonality of the input matrix X and ensures that the input signal can be restored to the original space after processing. Combined with the above example, at this time Value:

[0091]

[0092] (1.2) Take the diagonal matrix after taking the inverse The singular values of are regularized and multiplied with the compensated matrix to compensate for the weights of each modulus. The singular value regularization can solve the control imbalance problem caused by the ill-conditioned elements of the response matrix.

[0093] (1.3) The correction values of each modulus are calculated separately through the controller algorithm.

[0094] (1.4) maps the correction values to the fast correction iron vector space.

[0095] (1.5) The correction value is encoded, converted into parallel to serial data and other processing in the high-speed communication interface unit and then output to the corresponding fast correction iron through optical fiber.

[0096] (2) Slow response module processing.

[0097] (2.1) By inputting the compensation matrix Multiplying with the mapped matrix compensates for the problem introduced by the non-orthogonality of the input matrix X. Here Value:

[0098]

[0099] Where X is the input matrix, X p×n -1 is the matrix X p×n The inverse matrix of .

[0100] Combined with the above example, p=n=240, so here is the identity matrix.

[0101] (2.2) Take the diagonal matrix after taking the inverse The singular values of are regularized and multiplied with the compensated matrix to compensate for the weights of each modulus. The singular value regularization can solve the control imbalance problem caused by the ill-conditioned elements of the response matrix.

[0102] (2.3) The correction values of each modulus are calculated separately through the controller algorithm.

[0103] (2.4) maps the correction values to the slow correction iron vector space.

[0104] Illustratively, the correction value calculation frequency is the fast correction iron update frequency (10 kHz).

[0105] (2.5) Use a filter to decimate the correction value rate to the slow correction iron update frequency and output it via Ethernet.

[0106] Illustratively, the filter output unit uses a filter to decimate the correction value rate to a slow correction iron update frequency (10 Hz).

[0107] The five steps contained in each of the above two response modules are executed by the five units introduced above. Considering that the internal processing processes of the two response modules are similar, the unit names within the two response modules are not distinguished.

[0108] Based on the above introduction, the complete calculation process can be described as:

[0109]

[0110] Among them, θ s ,θ f are the outputs of the output mapping units in the fast response module and the slow response module, respectively, s ,q f Represents the controller algorithm applied in steps (1.3) and (2.3) above.

[0111] 3. Simulation description.

[0112] In order to illustrate the effect of the above scheme of the present invention, the following Figure 3 The orbit feedback simulation test system shown in the figure introduces orbit disturbance noise into the beam orbit and compares the orbit position before and after correction. The simulation results are shown in Figure 4 As shown, it can be clearly seen that the solution provided by the present invention can effectively suppress track interference.

[0113] Through the description of the above embodiments, those skilled in the art will clearly understand that the above embodiments can be implemented through software or by using software plus a necessary general-purpose hardware platform. Based on this understanding, the technical solutions of the above embodiments can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) and includes a number of instructions for causing a computer device (such as a personal computer, a server, or a network device) to execute the methods described in the various embodiments of the present invention.

[0114] Example 2

[0115] The present invention also provides a storage ring orbit feedback control system, which is mainly used to implement the method provided in the above embodiment, such as Figure 5 As shown, the device mainly includes:

[0116] A generalized singular value decomposition module is used to perform generalized singular value decomposition on the response matrices of the slow orbit feedback system and the fast orbit feedback system of the storage ring to obtain the input matrix, the diagonal matrix corresponding to the slow orbit feedback system and the fast orbit feedback system, and the output matrix;

[0117] An input mapping module is used to map the input signal to the characteristic modulus space through the input matrix, and the mapped matrix is input into the corresponding response modules (fast response module and slow response module) of the slow track feedback system and the fast track feedback system respectively;

[0118] The two response modules are processed in parallel. In each response module, each modulus is adjusted according to the input mapped matrix and the corresponding diagonal matrix, and each modulus correction value is calculated respectively. Then, each modulus correction value is mapped to the correction iron vector space in combination with the corresponding output matrix and output to the corresponding correction power supply.

[0119] Preferably, each response module includes:

[0120] An input compensation unit is used to compensate the input mapped matrix by inputting a compensation matrix to obtain a compensated matrix;

[0121] A modulus adjustment unit is used to regularize the diagonal elements in the corresponding diagonal matrix, take the inverse, perform a product operation with the compensated matrix, adjust each modulus, and output the matrix after the modulus adjustment;

[0122] A control calculation unit is used to combine the matrix after the modulus adjustment with the controller algorithm to calculate the correction value of each modulus;

[0123] The output mapping unit maps each modulus correction value to the correction iron vector space in combination with the corresponding output matrix to obtain the corresponding correction iron vector.

[0124] The output interface unit is used to output the correction iron vector to the corresponding correction power supply.

[0125] Considering that the main processing details involved in the system have been introduced in detail in the previous embodiments, they will not be repeated here.

[0126] In addition, in actual applications, the system also includes other supporting equipment, such as all BPM inputs, correction power supplies and correction irons in the entire ring. Considering that the relevant supporting equipment and their deployment methods can be implemented by referring to conventional technologies, they will not be described in detail.

[0127] Those skilled in the art will clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above.

[0128] Example 3

[0129] The present invention also provides a processing device, such as Figure 6 As shown, it mainly includes: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method provided by the aforementioned embodiment.

[0130] Furthermore, the processing device further includes at least one input device and at least one output device; in the processing device, the processor, memory, input device, and output device are connected via a bus.

[0131] In the embodiment of the present invention, the specific types of the memory, input device, and output device are not limited; for example:

[0132] The input device can be a touch screen, image acquisition device, physical button or mouse;

[0133] The output device may be a display terminal;

[0134] The memory may be a random access memory (RAM) or a non-volatile memory, such as a disk memory.

[0135] Example 4

[0136] The present invention also provides a readable storage medium storing a computer program, which implements the method provided in the above embodiment when the computer program is executed by a processor.

[0137] In the embodiments of the present invention, the computer-readable storage medium may be provided in the aforementioned processing device, for example, as a memory in the processing device. Alternatively, the computer-readable storage medium may be a USB flash drive, a removable hard drive, a read-only memory (ROM), a magnetic disk, or an optical disk, among other media capable of storing program code.

[0138] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art.

Claims

1. A storage ring orbit feedback control method, characterized in that: include: Perform generalized singular value decomposition on the response matrices of the slow-orbit feedback system and the fast-orbit feedback system of the storage ring to obtain the input matrix, as well as the diagonal matrices and output matrices corresponding to the slow-orbit feedback system and the fast-orbit feedback system, respectively. The input signal is mapped to the characteristic modulus space through the input matrix, and the mapped matrix is input into the response modules corresponding to the slow track feedback system and the fast track feedback system respectively; The two response modules are processed in parallel. In each response module, each modulus is adjusted according to the input mapped matrix and the corresponding diagonal matrix, and each modulus correction value is calculated respectively. Then, each modulus correction value is mapped to the correction iron vector space in combination with the corresponding output matrix and output to the corresponding correction power supply.

2. The storage ring orbit feedback control method according to claim 1, characterized in that: The generalized singular value decomposition is performed on the response matrices of the slow track feedback system and the fast track feedback system of the storage ring to obtain the input matrix, the diagonal matrix corresponding to the slow track feedback system and the fast track feedback system, and the output matrix, including: The response matrix of the fast track feedback system is expressed as The response matrix of the slow track feedback system is expressed as in, is the symbol of the real number set, p is the number of beam position monitors, m is the number of fast correction irons, and n is the number of slow correction irons; Response matrix R f With R s Perform generalized singular value decomposition, expressed as: Where gsvd is the generalized singular value decomposition, T is the transpose sign, X is the input matrix, C and U correspond to the diagonal matrix and output matrix of the fast track feedback system, respectively, and S and V correspond to the diagonal matrix and output matrix of the slow track feedback system, respectively.

3. The storage ring orbit feedback control method according to claim 1, characterized in that: Mapping the input signal to the eigenmodulus space through the input matrix includes: The input matrix is multiplied by the input signal to map the input signal to the eigenmodulus space.

4. The storage ring orbit feedback control method according to claim 1, characterized in that: The processing steps of each response module include: Compensating the input mapped matrix by inputting a compensation matrix to obtain a compensated matrix; Regularize the diagonal elements in the corresponding diagonal matrix and take the inverse, then multiply them with the compensated matrix, adjust each modulus, and output the matrix after the modulus adjustment; The modulus-adjusted matrix is combined with the controller algorithm to calculate the correction value of each modulus; Mapping each modulus correction value to the correction iron vector space in combination with the corresponding output matrix to obtain the corresponding correction iron vector; The correction iron vector is output to the corresponding correction power supply through the corresponding output interface.

5. The storage ring orbit feedback control method according to claim 4, characterized in that: Also includes: For the response module corresponding to the fast track feedback system, the input compensation matrix is Where X is the input matrix, X p×m -1 is the matrix X p×m The inverse matrix of the matrix X p×m are the first m columns of the input matrix X; For the response module corresponding to the slow track feedback system, the input compensation matrix is Where X is the input matrix, X p×n -1 is the matrix X p×n The inverse matrix of the matrix X p×n are the first n columns of the input matrix X.

6. The storage ring orbit feedback control method according to claim 4, characterized in that: Outputting the correction iron vector to the corresponding correction power supply through the corresponding output interface includes: For the response module corresponding to the fast track feedback system, the corresponding correction iron vector is encoded and converted into parallel and serial through the communication interface, and then output to the fast correction power supply; For the response module corresponding to the slow track feedback system, the corresponding correction iron vector is passed through the filter output unit, the rate is reduced, and then output to the slow correction power supply; The fast correction power supply refers to the correction power supply in the fast track feedback system, and the slow correction power supply refers to the correction power supply in the slow track feedback system.

7. A storage ring orbit feedback control system, characterized in that: The method for implementing any one of claims 1 to 6 comprises: A generalized singular value decomposition module is used to perform generalized singular value decomposition on the response matrices of the slow orbit feedback system and the fast orbit feedback system of the storage ring to obtain the input matrix, the diagonal matrix corresponding to the slow orbit feedback system and the fast orbit feedback system, and the output matrix; An input mapping module, configured to map the input signal to the characteristic modulus space through the input matrix, and input the mapped matrix to the response modules corresponding to the slow track feedback system and the fast track feedback system respectively; The two response modules are processed in parallel. In each response module, each modulus is adjusted according to the input mapped matrix and the corresponding diagonal matrix, and each modulus correction value is calculated respectively. Then, each modulus correction value is mapped to the correction iron vector space in combination with the corresponding output matrix and output to the corresponding correction power supply.

8. The storage ring orbit feedback control system according to claim 7, characterized in that: Each response module includes: An input compensation unit is used to compensate the input mapped matrix by inputting a compensation matrix to obtain a compensated matrix; A modulus adjustment unit is used to regularize the diagonal elements in the corresponding diagonal matrix, take the inverse, perform a product operation with the compensated matrix, adjust each modulus, and output the matrix after the modulus adjustment; A control calculation unit is used to combine the matrix after the modulus adjustment with the controller algorithm to calculate the correction value of each modulus; The output mapping unit maps each modulus correction value to the correction iron vector space in combination with the corresponding output matrix to obtain the corresponding correction iron vector. The output interface unit is used to output the correction iron vector to the corresponding correction power supply.

9. A processing device, characterized in that include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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