A feedforward compensation method and device, electronic equipment, storage medium and product

Abstract

Embodiments of the present application disclose a feedforward compensation method and device, electronic equipment, storage medium and product. The method comprises: obtaining index characteristic information of a closed-loop control system, and determining a target damping model based on the index characteristic information; determining a dynamic model of a controlled object in the closed-loop control system; determining a consistency compensator based on the target damping model and the dynamic model; placing the consistency compensator in a feedforward path in the closed-loop control system, so that the consistency compensator and a closed-loop controller in the closed-loop control system cooperatively control the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure. The present scheme can suppress overshoot and improve the overall damping characteristics of the closed-loop control system without changing the original feedback system. On the other hand, the consistency compensator and the original closed-loop controller form a parallel decoupling structure, which can be universally adapted to various closed-loop control systems.

Description

Technical Field

[0001] This application relates to the field of servo control technology, and in particular to a feedforward compensation method, device, electronic device, storage medium, and product. Background Technology

[0002] Optical Image Stabilization (OIS) technology has become a key component for improving image quality in consumer electronics, especially in smartphone cameras. OIS systems typically use a voice coil motor to drive the lens for shake compensation and focusing. OIS exhibits significant second-order elastic characteristics: a low natural frequency and a small damping ratio, making it prone to dynamic problems such as overshoot, ringing, and poor dynamic consistency during rapid focusing or shake compensation. To address this, the industry commonly employs closed-loop control strategies such as Proportional-Integral-Differential Controllers (PID), Model Predictive Control, and Sliding Mode Control for motion control. However, existing control schemes still suffer from the following problems in rapid dynamic response: 1. Overshoot is difficult to suppress; 2. Inconsistent dynamic characteristics between different controller structures make unified adjustment difficult; 3. Differences exist between the controlled object models, making it difficult to achieve uniform desired damping characteristics.

[0003] To address the issues of insufficient damping and oscillation in closed-loop control systems, related technologies typically employ electronic damping compensation methods to optimize the system's dynamic characteristics. Traditional electronic damping schemes primarily rely on velocity feedback differential control structures to enhance damping. While this can suppress ringing and overshoot to some extent, this compensation architecture has fundamental flaws and cannot meet the requirements of high-precision, high-dynamic-consistency OIS control. First, traditional electronic damping heavily depends on high-precision velocity feedback signals, which are susceptible to interference from sensor quantization noise, mechanical vibration noise, and sensor bandwidth limitations. This results in significant noise amplification and phase delay, leading to unstable damping compensation and poor robustness. Second, the velocity feedback effectively introduces a differential term, significantly amplifying high-frequency noise. In engineering practice, this necessitates the use of filtering algorithms for noise reduction, which introduces phase lag, sacrificing the system's dynamic response speed and making it difficult to balance fast response and stability. Finally, traditional electronic damping modules are directly embedded in the closed-loop feedback loop, which is deeply coupled with and interferes with the parameters of main controllers such as PID and sliding mode control. The parameter tuning is complicated and the debugging cost is high. Moreover, it cannot be embedded in different control frameworks in a unified form, making it difficult to adapt to diverse closed-loop control systems. Its versatility and portability are extremely poor. Summary of the Invention

[0004] This application provides a feedforward compensation method, device, electronic device, storage medium, and product that can improve the overall damping characteristics of a closed-loop control system.

[0005] According to one aspect of this application, a feedforward compensation method is provided, the method comprising: Obtain the index characteristic information of the closed-loop control system, and determine the target damping model based on the index characteristic information; Determine the dynamic model of the controlled object in the closed-loop control system; A consistency compensator is determined based on the target damping model and the dynamic model; The consistency compensator is placed in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform coordinated control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure.

[0006] According to one aspect of this application, a feedforward compensation device is provided, the device comprising: The target damping model determination module is used to acquire the index characteristic information of the closed-loop control system and determine the target damping model based on the index characteristic information. The dynamic model determination module is used to determine the dynamic model of the controlled object in the closed-loop control system; A consistency compensator determination module is used to determine a consistency compensator based on the target damping model and the dynamic model. A collaborative control module is used to place the consistency compensator in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform collaborative control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure.

[0007] According to another aspect of this application, an electronic device is provided, the electronic device comprising: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the feedforward compensation method of any embodiment of the present application.

[0008] According to another aspect of this application, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to implement the feedforward compensation method of any embodiment of this application when executed.

[0009] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the feedforward compensation method of any embodiment of this application.

[0010] The technical solution of this application embodiment obtains the index characteristic information of the closed-loop control system and determines the target damping model based on the index characteristic information; determines the dynamic model of the controlled object in the closed-loop control system; determines a consistency compensator based on the target damping model and the dynamic model; and places the consistency compensator in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform coordinated control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure. This solution, on the one hand, can set the desired dynamic response through the target damping model, suppressing overshoot and improving the overall damping characteristics of the closed-loop control system without changing the original feedback system; on the other hand, it can realize the parallel decoupling structure between the consistency compensator and the original closed-loop controller, which can be universally adapted to various closed-loop control systems such as PID control, sliding mode control, and model predictive control, solving the industry pain point that traditional electronic damping cannot be universally adapted and is difficult to reuse across systems.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A flowchart of a feedforward compensation method provided in an embodiment of this application; Figure 2 This is a schematic diagram of a closed-loop control system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a feedforward compensation device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0015] It should be noted that the terms "first," "second," "third," "fourth," "actual," "preset," etc., used in the specification, claims, and accompanying drawings of this application 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 this application 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 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.

[0016] Figure 1 This is a flowchart illustrating a feedforward compensation method provided in an embodiment of this application. This embodiment is applicable to situations where feedforward compensation is performed on a controlled object in a closed-loop control system. The method can be executed by a feedforward compensation device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes: S110. Obtain the index characteristic information of the closed-loop control system, and determine the target damping model based on the index characteristic information.

[0017] The closed-loop control system can be a servo control system that achieves real-time correction of position errors through closed-loop algorithms such as PID, sliding mode control, and model predictive control. The closed-loop control system can be a voice coil motor position servo closed-loop control system applied to OIS optical image stabilization, or a servo closed-loop control system for other application scenarios. This application does not limit the type or application scenario of the closed-loop control system.

[0018] In this embodiment, the performance characteristics information of the closed-loop control system is obtained. This performance characteristics information can be dynamic characteristics that the user-input closed-loop control system is expected to satisfy or achieve. The performance characteristics information may include desired damping, response speed, overshoot index, dynamic convergence characteristics, and frequency characteristics, among other related information. A target damping model is determined based on the performance characteristics information of the closed-loop control system. For example, a pre-defined damping model type is determined, and then the model parameters in the damping function model corresponding to the damping model type are determined based on the index characteristic information, thereby generating the target damping model. For another example, the indicator characteristic information is input into a pre-trained large model, and the target damping model is determined based on the output of the large model. Understandably, this is the target damping model. The ideal dynamic transfer function is determined based on the system's damping, response speed, overshoot, frequency characteristics, and other index characteristics. It is used to constrain the standardized dynamic characteristics that the closed-loop control system is expected to achieve.

[0019] Optionally, the target damping model includes any one of a first-order inertial damping model, a second-order damping model, a higher-order linear damping model, or a nonlinear or parametric time-varying damping model. It should be noted that the embodiments of this application do not limit the order or structure of the target damping model. For example, the target damping model can be... The target damping model can also be a second-order damping model as follows: in, Represents natural frequency. This indicates the damping ratio.

[0020] S120. Determine the dynamic model of the controlled object in the closed-loop control system.

[0021] In this embodiment, the closed-loop control system includes a controlled object, which can be a motion control object such as a servo motor, linear motor, or motor. It should be noted that this embodiment does not limit the type of controlled object in the closed-loop control system. The dynamic model of the controlled object in the closed-loop control system is determined. Among them, the dynamic model Used to accurately characterize the dynamic mapping relationship between the input control voltage or input control current and the output displacement of the controlled object. The dynamic model can be obtained through various methods such as theoretical modeling, system identification, experimental measurement, and parameter derivation. To adapt to different hardware scenarios and development conditions, the embodiments of this application provide a dynamic model. The model structure is not limited. Optionally, the control current input and displacement output can be input into the machine learning model to perform system identification of the controlled object and obtain a dynamic model. For example, if the closed-loop control system is a voice coil motor position servo closed-loop control system applied to OIS optical image stabilization, then the controlled object in the closed-loop control system is the voice coil motor (VCM). In this case, the dynamic model of the controlled object can use the following standard second-order electromechanical dynamics model: in, Indicates the VCM system gain. Represents natural frequency. This indicates the damping ratio.

[0022] S130. Determine the consistency compensator based on the target damping model and the dynamic model.

[0023] In this embodiment, a consistency compensator is determined based on a target damping model and a dynamic model. Optionally, determining the consistency compensator based on the target damping model and the dynamic model includes: determining the consistency compensator according to the following formula: in, This refers to the consistency compensator. This represents the target damping model. This represents the dynamic model.

[0024] Optionally, the displacement input and control current output are input into a machine learning model to model the inverse dynamics model to obtain 1 / H(s), and then the consistency compensator is determined according to the following formula: It is understandable that, for different dynamic models of the controlled object, in order to achieve a consistent target damping effect, the feedforward path of the closed-loop control system must satisfy... Therefore, the resulting consistency compensator can be expressed as: That is, the consistency compensator is the target damping model. With dynamic model The ratio. For example, if the target damping model for: , dynamic model for: Then the consistency compensator It can be represented as: For example, if the target damping model... for: , dynamic model for: Then the consistency compensator It can be represented as: .

[0025] Alternatively, the machine learning model can directly determine the consistency compensator based on the control current input data, displacement output data, and index characteristic information. .

[0026] S140. The consistency compensator is placed in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system perform coordinated control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure.

[0027] In this embodiment, the consistency compensator is placed in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system form a parallel structure. The closed-loop controller can be any type of controller, such as a PID controller, Active Disturbance Rejection Controller (ADRC), sliding mode controller, model predictive controller, or fuzzy controller. All types of closed-loop controllers can be used in decoupled cooperation with the feedforward compensation branch. It should be noted that this embodiment does not limit the type of closed-loop controller in the closed-loop control system. In this embodiment, the consistency compensator and the closed-loop controller, forming a parallel structure, perform coordinated control of the controlled object. Specifically, the consistency compensator operates in the feedforward path, generating feedforward damping control quantity based on the target damping model and the dynamic model of the controlled object, thus offsetting the inherent oscillations and low damping defects of the controlled object (such as a voice coil motor) in advance, unifying the dynamic characteristics of the system, and suppressing overshoot and ringing; the closed-loop controller (PID, ADRC, etc.) operates in the feedback path, generating feedback control quantity by collecting the deviation between the actual position of the motor and the target position, continuously correcting the steady-state error and resisting external disturbances.

[0028] The technical solution of this application embodiment obtains the index characteristic information of the closed-loop control system and determines the target damping model based on the index characteristic information; determines the dynamic model of the controlled object in the closed-loop control system; determines a consistency compensator based on the target damping model and the dynamic model; and places the consistency compensator in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform coordinated control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure. This solution, on the one hand, can set the desired dynamic response through the target damping model, suppressing overshoot and improving the overall damping characteristics of the closed-loop control system without changing the original feedback system; on the other hand, it can realize the parallel decoupling structure between the consistency compensator and the original closed-loop controller, which can be universally adapted to various closed-loop control systems such as PID control, sliding mode control, and model predictive control, solving the industry pain point that traditional electronic damping cannot be universally adapted and is difficult to reuse across systems.

[0029] In some embodiments, the consistency compensator and the closed-loop controller in the closed-loop control system perform coordinated control of the controlled object, including: obtaining the feedforward damping control quantity output by the consistency compensator in the feedforward path; obtaining the closed-loop feedback control quantity output by the closed-loop controller in the feedback path of the closed-loop control system; determining the target feedforward weight corresponding to the feedforward damping control quantity and the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity; calculating a fused control quantity based on the feedforward damping control quantity, the closed-loop feedback control quantity, the target feedforward weight, and the target closed-loop feedback weight, and performing coordinated control of the controlled object based on the fused control quantity.

[0030] For example, Figure 2 This is a schematic diagram of a closed-loop control system provided in an embodiment of this application. Figure 2 As shown, an example is given using a PID controller in a closed-loop control system. The PID controller and the consistency compensator form a parallel structure, where the consistency compensator is located in the feedforward branch and the PID controller is located in the feedback branch. The consistency compensator in the feedforward path... The corresponding output feedforward damping control quantity is determined based on its input signal. In the feedback loop, the closed-loop controller (such as a PID controller) determines the corresponding closed-loop feedback control quantity based on its input signal. Determine the feedforward damping control values ​​respectively. Corresponding target feedforward weights and closed-loop feedback control quantity Corresponding target closed-loop feedback weight Optional, target feedforward weights Closed-loop feedback weights with the target All of them can be pre-set weight values, and .

[0031] For example, if the closed-loop control system exhibits oscillations or over-underdamping, such as insufficient closed-loop parameters leading to output oscillations, whistling, or significant underdamping, the closed-loop control system can be switched to a fully pure feedforward damping model to quickly stabilize the output. This can be achieved by setting a target feedforward weight. Target closed-loop feedback weight At this point, the closed-loop control system response is entirely determined by the consistency compensator. The defined target damping control achieves timely suppression of oscillations. For example, when both rapid tracking and overshoot suppression are required simultaneously, the closed-loop control system needs to meet both rapid climb and overshoot avoidance requirements. In this case, a hybrid mode can be used, for example, by setting target feedforward weights. The value of is in the range of 0.6 to 0.8, which is the target closed-loop feedback weight. The value of is within the range of 0.2 to 0.4, so as to inject target dynamic damping through the feedforward path to suppress response overshoot and oscillation, while ensuring continuous error convergence through the feedback path, thus balancing system response speed and dynamic stability. As another example, if the closed-loop control system enters a steady state or the displacement error of the controlled object is small, the feedforward path weight can be reduced, such as by setting a target feedforward weight. The value of is in the range of 0.1 to 0.2, which is the target closed-loop feedback weight. The value of is in the range of 0.8 to 0.9. In this case, closed-loop feedback control is the primary method, weakening the damping compensation effect and relying mainly on the feedback path to maintain the system's positioning accuracy. Optionally, the target feedforward weight can be adjusted by real-time monitoring of the dynamic response characteristics of the closed-loop control system (e.g., rate of rise, error rate of change, oscillation index, etc.). Closed-loop feedback weights with the target It enables adaptive and smooth switching. This allows the system to continuously achieve optimal dynamic performance under different operating conditions without modifying or readjusting the original controller parameters, while ensuring a smooth and shock-free control process.

[0032] Optionally, determining the target feedforward weight corresponding to the feedforward damping control quantity and the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity includes: determining the current motion speed of the controlled object at the current moment; when the current motion speed is greater than a preset speed threshold, obtaining the previous feedforward weight corresponding to the feedforward damping control quantity at the previous moment, and increasing the previous feedforward weight, so as to determine the target feedforward weight corresponding to the feedforward damping control quantity at the current moment based on the increased previous feedforward weight; determining the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity at the current moment based on the target feedforward weight; wherein, the sum of the target feedforward weight and the target closed-loop feedback weight is 1.

[0033] In this embodiment, the current speed of the controlled object at the current moment is determined, and it is judged whether the current speed is greater than a preset speed threshold. If so, it indicates that the system response speed is too fast, the controlled object is in a rapid climbing phase, and the closed-loop control system has obvious overshoot and oscillation risks. Therefore, this is used as the trigger condition for weight adaptive adjustment. Specifically, the previous feedforward weight corresponding to the feedforward damping control quantity at the previous moment is obtained, and the previous feedforward weight is increased. Based on the increased previous feedforward weight, the target feedforward weight corresponding to the feedforward damping control quantity at the current moment is determined. For example, the increased previous feedforward weight can be directly used as the target feedforward weight corresponding to the feedforward damping control quantity at the current moment. Since the sum of the target feedforward weight and the target closed-loop feedback weight is 1, the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity at the current moment is determined based on the target feedforward weight, that is, the difference between 1 and the target feedforward weight is used as the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity at the current moment.

[0034] Optionally, determining the target feedforward weight corresponding to the feedforward damping control quantity at the current moment based on the increased previous feedforward weight includes: using the increased previous feedforward weight as the current initial feedforward weight; performing first-order filtering and smoothing on the current initial feedforward weight based on the previous feedforward weight to generate the target feedforward weight corresponding to the feedforward damping control quantity at the current moment. The advantage of this setting is that by smoothly iteratively updating the weights through first-order filtering, the linkage adjustment of the two weights can be achieved, effectively avoiding control shocks and controlled object jitter caused by sudden weight changes, and ensuring a smooth and continuous switching process. For example, the target feedforward weight corresponding to the feedforward damping control quantity at the current moment can be determined according to the following formula: ,in, This represents the current initial feedforward weight (i.e., the increased previous feedforward weight). Indicates the previous feedforward weight. This represents the target feedforward weight corresponding to the feedforward damping control quantity at the current moment. This represents a pre-set smoothing coefficient used to avoid abrupt changes in weights. Optionally, when the current motion speed is less than a preset speed threshold, the previous feedforward weight corresponding to the previous moment can be directly used as the target feedforward weight for the current moment, and the previous feedback weight corresponding to the previous moment can be used as the target closed-loop feedback weight for the current moment.

[0035] In this embodiment of the application, based on the feedforward damping control quantity Closed-loop feedback control quantity Target feedforward weights and target closed-loop feedback weight Calculate the fusion control quantity For example, the fusion control quantity can be calculated using the following formula: Then based on the fusion control quantity Cooperative control of the controlled object, including fusion control variables. The dynamic model input to the controlled object (such as a voice coil motor) Through dynamic model Finally, the actual displacement output of the controlled object is obtained. .in, It is understood that, in the embodiments of this application, by placing the consistency compensator in the feedforward path of the closed-loop control system, the original dynamic deviation of the controlled object (such as a voice coil motor) can be offset, a preset target damping characteristic can be implanted, the dynamic performance of different controlled objects can be unified, dynamic consistency compensation of the entire closed-loop control system can be achieved, and overshoot and oscillation can be suppressed, thereby improving control stability.

[0036] Figure 3 This is a schematic diagram of a feedforward compensation device provided in an embodiment of this application. This device can execute the feedforward compensation method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the method. Figure 3 As shown, the device includes: The target damping model determination module 310 is used to acquire the index characteristic information of the closed-loop control system and determine the target damping model based on the index characteristic information. The dynamic model determination module 320 is used to determine the dynamic model of the controlled object in the closed-loop control system. The consistency compensator determination module 330 is used to determine the consistency compensator based on the target damping model and the dynamic model. The cooperative control module 340 is used to place the consistency compensator in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform cooperative control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure.

[0037] Optional, a consistency compensator determination module, used for: The consistency compensator is determined according to the following formula: in, This refers to the consistency compensator. This represents the target damping model. This represents the dynamic model.

[0038] Optional, the collaborative control module includes: A feedforward damping control quantity acquisition unit is used to acquire the feedforward damping control quantity output by the consistency compensator in the feedforward path; A closed-loop feedback control quantity acquisition unit is used to acquire the closed-loop feedback control quantity output by the closed-loop controller in the feedback path of the closed-loop control system. The weight determination unit is used to determine the target feedforward weight corresponding to the feedforward damping control quantity and the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity, respectively. The collaborative control unit is used to calculate the fused control quantity based on the feedforward damping control quantity, the closed-loop feedback control quantity, the target feedforward weight, and the target closed-loop feedback weight, and to perform collaborative control on the controlled object based on the fused control quantity.

[0039] Optionally, the weight determination unit includes: The motion speed determination subunit is used to determine the current motion speed of the controlled object at the current moment; The target feedforward weight determination subunit is used to obtain the previous feedforward weight corresponding to the feedforward damping control quantity at the previous moment when the current motion speed is greater than the preset speed threshold, and increase the previous feedforward weight, so as to determine the target feedforward weight corresponding to the feedforward damping control quantity at the current moment based on the increased previous feedforward weight. The target closed-loop feedback weight determination subunit is used to determine the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity at the current time based on the target feedforward weight; wherein, the sum of the target feedforward weight and the target closed-loop feedback weight is 1.

[0040] Optionally, a target feedforward weight determination sub-unit is used for: The increased previous feedforward weight is used as the current initial feedforward weight; Based on the previous feedforward weight, the current initial feedforward weight is subjected to first-order filtering and smoothing to generate the target feedforward weight corresponding to the feedforward damping control quantity at the current time.

[0041] Optionally, the target damping model includes any one of the following: a first-order inertial damping model, a second-order damping model, a higher-order linear damping model, or a nonlinear or parametric time-varying damping model.

[0042] The feedforward compensation device provided in this application embodiment can execute a feedforward compensation method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the execution method.

[0043] Figure 4A schematic diagram of an electronic device 10, which can be used to implement embodiments of this application, 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 processors, cellular phones, smartphones, wearable devices (such as 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 application described and / or claimed herein.

[0044] like Figure 4 As 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 from storage unit 18 into the RAM 13. 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 input / output (I / O) interface 15 is also connected to the bus 14.

[0045] 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 monitors, 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.

[0046] 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 feedforward compensation methods.

[0047] In some embodiments, the feedforward compensation 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 mounted 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 feedforward compensation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the feedforward compensation method by any other suitable means (e.g., by means of firmware).

[0048] 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.

[0049] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable feedforward compensation 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 implemented. 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.

[0050] In the context of this application, 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 can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0051] 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).

[0052] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or 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.

[0053] 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.

[0054] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the feedforward compensation method as provided in any embodiment of this application.

[0055] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external computer (e.g., via the Internet using an Internet service provider). It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired information of the technical solution of this application can be achieved, and this is not limited herein.

[0056] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. 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 application should be included within the scope of protection of this application.

Claims

1. A feedforward compensation method, characterized in that, The method includes: Obtain the index characteristic information of the closed-loop control system, and determine the target damping model based on the index characteristic information; Determine the dynamic model of the controlled object in the closed-loop control system; A consistency compensator is determined based on the target damping model and the dynamic model; The consistency compensator is placed in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform coordinated control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure.

2. The method according to claim 1, characterized in that, Determining a consistency compensator based on the target damping model and the dynamic model includes: The consistency compensator is determined according to the following formula: in, This refers to the consistency compensator. This represents the target damping model. This represents the dynamic model.

3. The method according to claim 1, characterized in that, The consistency compensator and the closed-loop controller in the closed-loop control system perform coordinated control of the controlled object, including: Obtain the feedforward damping control quantity output by the consistency compensator in the feedforward path; Obtain the closed-loop feedback control quantity output by the closed-loop controller in the feedback path of the closed-loop control system; Determine the target feedforward weight corresponding to the feedforward damping control quantity and the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity, respectively. The fused control quantity is calculated based on the feedforward damping control quantity, the closed-loop feedback control quantity, the target feedforward weight, and the target closed-loop feedback weight, and the controlled object is coordinated controlled based on the fused control quantity.

4. The method according to claim 3, characterized in that, Determine the target feedforward weight corresponding to the feedforward damping control quantity and the target closed-loop feedback weight corresponding to the closed-loop feedback control quantity, including: Determine the current speed of the controlled object at the current moment; When the current motion speed is greater than the preset speed threshold, the previous feedforward weight corresponding to the feedforward damping control quantity at the previous moment is obtained, and the previous feedforward weight is increased, so as to determine the target feedforward weight corresponding to the feedforward damping control quantity at the current moment based on the increased previous feedforward weight. The target closed-loop feedback weight corresponding to the closed-loop feedback control quantity at the current time is determined based on the target feedforward weight; wherein, the sum of the target feedforward weight and the target closed-loop feedback weight is 1.

5. The method according to claim 4, characterized in that, Determining the target feedforward weight corresponding to the feedforward damping control quantity at the current time based on the increased previous feedforward weight includes: The increased previous feedforward weight is used as the current initial feedforward weight; Based on the previous feedforward weight, the current initial feedforward weight is subjected to first-order filtering and smoothing to generate the target feedforward weight corresponding to the feedforward damping control quantity at the current time.

6. The method according to any one of claims 1-5, characterized in that, The target damping model includes any one of the following: first-order inertial damping model, second-order damping model, higher-order linear damping model, nonlinear or parametric time-varying damping model.

7. A feedforward compensation device, characterized in that, include: The target damping model determination module is used to acquire the index characteristic information of the closed-loop control system and determine the target damping model based on the index characteristic information. The dynamic model determination module is used to determine the dynamic model of the controlled object in the closed-loop control system; A consistency compensator determination module is used to determine a consistency compensator based on the target damping model and the dynamic model. A collaborative control module is used to place the consistency compensator in the feedforward path of the closed-loop control system, so that the consistency compensator and the closed-loop controller in the closed-loop control system can perform collaborative control of the controlled object; wherein the consistency compensator and the closed-loop controller form a parallel structure.

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; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the feedforward compensation 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 feedforward compensation method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the feedforward compensation method according to any one of claims 1-6.

Images