CN115566886A - Feedforward control method, device, equipment and storage medium - Google Patents

Feedforward control method, device, equipment and storage medium Download PDF

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Publication number
CN115566886A
CN115566886A CN202211289489.XA CN202211289489A CN115566886A CN 115566886 A CN115566886 A CN 115566886A CN 202211289489 A CN202211289489 A CN 202211289489A CN 115566886 A CN115566886 A CN 115566886A
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value
output voltage
duty ratio
duty cycle
signal
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莫李宁
李酉
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Shenzhen Leineng Hybrid Integrated Circuit Co ltd
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Shenzhen Leineng Hybrid Integrated Circuit Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/42—Circuits or arrangements for compensating for or adjusting power factor in converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Abstract

The application discloses a feedforward control method, which comprises the following steps: firstly, acquiring an input voltage value and an output voltage value of a system; then, calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in an inverse relationship with the duty cycle; and finally, controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal. And calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value, wherein the change direction of the duty ratio is opposite to the change direction of the output voltage, so that the voltage stabilization is realized through feedforward control when the PFC is in no-load.

Description

Feedforward control method, device, equipment and storage medium
Technical Field
The present application relates to the field of power electronics technologies, and in particular, to a feedforward control method, apparatus, device, and storage medium.
Background
In a system with time-varying reference signals, when feedback cannot be tracked in time, feedforward control is an effective method for eliminating and reducing disturbance of a control system. Therefore, the feedforward control is often used in a Power Factor Correction (PFC) circuit, and the PFC circuit can effectively improve the ratio of the active Power to the apparent Power at the input terminal of the Power supply.
In the prior art, feedforward control is generally used as an additional auxiliary control, a target quantity (such as current) is fed back and controlled, and feedforward is used as an auxiliary control output voltage. When the PFC works in a no-load mode, the current magnitude change of feedback control is not obvious, so that the output quantity of a current loop is small, the action quantity of a feedback link is small, and the control is basically realized by relying on feed forward. When the input quantity is not changed, the duty ratio calculated by the traditional feedforward calculation formula when the output is changed is the same as the conversion direction, so that the voltage stabilization cannot be realized.
Disclosure of Invention
Based on the above problems, the present application provides a feedforward control method, apparatus, device and storage medium, wherein when the PFC is idle, the feedforward control is used to realize voltage stabilization.
The embodiment of the application discloses the following technical scheme:
in a first aspect, the present application provides a feed-forward control method, the method comprising:
acquiring an input voltage value and an output voltage value of a system;
calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in an inverse relationship with the duty cycle;
and controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
Optionally, after obtaining the value of the duty ratio signal, the method further includes:
calculating the value of the complementary duty cycle signal according to the duty cycle signal;
and controlling the on-off of an auxiliary switching tube of the system according to the value of the complementary duty ratio signal.
Optionally, the formula for calculating the value of the duty ratio signal according to the input voltage value, the output voltage value, and the preset output voltage reference value is as follows:
Figure BDA0003900815520000021
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
Optionally, the formula for calculating the value of the complementary duty cycle signal according to the duty cycle signal is as follows:
Figure BDA0003900815520000022
wherein D' represents the value of the complementary duty cycle signal, D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
In a second aspect, the present application provides a feedforward control arrangement, the arrangement comprising: the device comprises an acquisition module, a first calculation module and a first control module;
the acquisition module is used for acquiring an input voltage value and an output voltage value of the system;
the first calculation module is used for calculating the value of the duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in an inverse relationship with the duty cycle;
and the first control module is used for controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
Optionally, the apparatus further comprises: the second calculation module and the second control module;
the second calculating module is used for calculating the value of the complementary duty ratio signal according to the duty ratio signal;
and the second control module is used for controlling the on and off of an auxiliary switching tube of the system according to the value of the complementary duty ratio signal.
Optionally, the first calculating module is specifically configured to:
Figure BDA0003900815520000023
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
Optionally, the second calculating module is specifically configured to:
Figure BDA0003900815520000031
wherein D' represents the value of the complementary duty cycle signal, D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
In a third aspect, the present application provides a feedforward control apparatus, characterized by comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the feedforward control method according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium has stored therein instructions, which when run on a terminal device, cause the terminal device to execute a feed-forward control method according to any one of the first aspect.
Firstly, acquiring an input voltage value and an output voltage value of a system; then, calculating the value of the duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value and the duty ratio are in an inverse relation; and finally, controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
Compared with the prior art, the method has the following beneficial effects:
and calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value, wherein the change direction of the duty ratio is opposite to the change direction of the output voltage, so that the voltage stabilization is realized through feedforward control when the PFC is in no load.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a flow chart of a feedforward control method according to an embodiment of the present application;
FIG. 2 is a flow chart of another feedforward control method provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a feedforward control device according to an embodiment of the present application.
Detailed Description
As described above, in the current feed-forward control, for the PWM control adopted by the main switching tube, the duty ratio is calculated by the following formula:
Figure BDA0003900815520000041
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage. As can be seen from the above equation, the duty ratio signal and the output voltage have a direct proportion relationship, that is, the larger the duty ratio signal is, the larger the output voltage is; the smaller the duty cycle signal, the smaller the output voltage. Therefore, when the PFC is unloaded, the feedforward control cannot try to stabilize the voltage.
In view of the above, the present application provides a feedforward control method, including: acquiring an input voltage value and an output voltage value of a system; calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value and the duty ratio are in an inverse relation; and controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Referring to fig. 1, the figure is a flowchart of a feedforward control method provided in the present application.
As shown in fig. 1, the method includes:
s101: and acquiring an input voltage value and an output voltage value of the system.
The system may be a switching power supply system including a PFC.
In order to suppress the distortion of the current waveform and improve the power factor, the PFC measures are necessary for the current electric appliances with larger power (more than 85W) and a switching power supply (capacitive load). The PFC mainly comprises an active PFC mode and a passive PFC mode.
The passive PFC is characterized in that an inductor (inductance is properly selected) is added between a rectifier bridge stack and a filter capacitor, the fluctuation of strong charging pulse of the capacitor is smoothed by using the characteristic that the current on the inductor can not change suddenly, the distortion of the current waveform of a power supply line is improved, and the characteristic of the leading current of the voltage on the inductor also compensates the characteristic of the leading voltage of the current of the filter capacitor, so that the power factor, the electromagnetic compatibility and the electromagnetic interference are improved. However, the simple and low-cost passive PFC has large output ripple, low dc voltage at two ends of the filter capacitor, poor current distortion correction and power factor compensation capabilities, and poor winding of the inductor L and quality control of the iron core, which may cause serious interference to the image and accompanying sound.
The basic principle of the active PFC is that a DC-DC chopper circuit is added between a rectifying circuit and a filter capacitor of a switching power supply, and the output of the rectifying circuit is not directly connected with the filter capacitor for a power supply line, so that the power supply line presents a purely resistive load, and the voltage and current waveforms of the load are in the same phase and the same phase. The chopper circuit also operates similarly to a switching power supply. Therefore, the active PFC switching power supply is a switching power supply circuit of a double-switching power supply.
The input voltage of the system and the output voltage of the system can be directly obtained through related instruments such as an oscilloscope and the like.
S102: calculating the value of the duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in inverse relation to the duty cycle.
Optionally, the formula for calculating the value of the duty ratio signal according to the input voltage value, the output voltage value and the preset output voltage reference value is as follows:
Figure BDA0003900815520000051
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value. When V is out Equal to V for a certain period of time ref The system is considered to be operating in steady state.
When the system is operating in steady state, i.e. V out ＝V ref The value of the duty ratio signal is controlled by the input voltage signal and changes with the conversion of the input voltage signal. When the input voltage signal increases, the duty ratio signal D decreases; when the input voltage signal decreases, the duty ratio signal D increases. Thus, the input voltage signal may be a direct current voltage signal or an alternating current voltage signal.
When the system is operating in transient, when V out <V ref When, V out And V ref The larger the phase difference, the larger the duty ratio signal D is, at V out Close to V ref The tendency of the duty ratio signal to become larger is reduced until a steady state V is reached out The duty cycle signal D is no longer affected; when V is out >V ref When the utility model is used, the water is discharged,V out and V ref The larger the phase difference, the smaller the duty ratio signal D is, at V out Close to V ref In time, the duty ratio signal tends to decrease. Therefore, the feedforward control method provided by the embodiment can make the system go from a transient state to a steady state.
S103: and controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
The duty ratio signal value can be used for controlling a main Pulse Width Modulation (PWM) signal for controlling the main switching tube, and further controlling the main switching tube through the main PWM signal.
And calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value, wherein the change direction of the duty ratio is opposite to the change direction of the output voltage, so that the voltage stabilization is realized through feedforward control when the PFC is in no load.
Referring to fig. 2, a flow chart of a feedforward control method provided by the present application is shown.
As shown in fig. 2, the method includes:
s201: and acquiring an input voltage value and an output voltage value of the system.
The input voltage of the system and the output voltage of the system can be directly obtained through related instruments such as an oscilloscope and the like.
S202: calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in inverse relation to the duty cycle.
S203: and calculating the value of the complementary duty ratio signal according to the duty ratio signal.
Optionally, according to the duty ratio signal, a formula for calculating a value of the complementary duty ratio signal is as follows:
Figure BDA0003900815520000061
wherein D' represents the value of the complementary duty cycle signal, D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
The complementary duty ratio can indirectly control the main PWM to realize the duty ratio signal control. If the PWM signal of the auxiliary switching tube is complementary with the PWM signal of the main switching tube, the complementary duty ratio can directly control the auxiliary switching tube to realize duty ratio signal control.
S204: the duty ratio signal controls the conduction and the disconnection of the main switching tube, and the complementary duty ratio signal controls the conduction and the disconnection of the auxiliary switching tube.
The value of the duty ratio signal can be used for controlling a PWM signal for controlling the main switching tube, and further controlling the main switching tube through the main PWM signal; and controlling the PWM signal for controlling the auxiliary switching tube through the value of the complementary duty ratio signal, and further controlling the auxiliary switching tube through the auxiliary PWM signal.
The main switching tube is controlled through the duty ratio signal, the complementary duty ratio indirectly controls the main switching tube (if the PWM signal of the auxiliary switching tube is complementary with the PWM signal of the main switching tube, the complementary duty ratio can directly control the auxiliary switching tube to realize duty ratio signal control), and the system can more quickly work from a transient state to a steady state.
Referring to fig. 3, the structure of a feedforward control device provided in this application is schematically illustrated.
As shown in fig. 3, the apparatus includes: an acquisition module 301, a first calculation module 302 and a first control module 303;
an obtaining module 301, configured to obtain an input voltage value and an output voltage value of a system;
a first calculating module 302, configured to calculate a value of the duty ratio signal according to the input voltage value, the output voltage value, and a preset output voltage reference value; the output voltage value is in an inverse relationship with the duty cycle;
and the first control module 303 is configured to control the on/off of a main switching tube of the system according to a value of the duty ratio signal.
Optionally, the feedforward control device provided by the present application further includes: the second calculation module and the second control module;
the second calculation module is used for calculating the value of the complementary duty ratio signal according to the duty ratio signal;
and the second control module is used for controlling the on and off of the auxiliary switching tube according to the value of the complementary duty ratio signal.
The first calculating module is specifically configured to:
Figure BDA0003900815520000071
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
The second calculation module is specifically configured to:
Figure BDA0003900815520000072
wherein D' represents the value of the complementary duty cycle signal, D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
When the system is operating in steady state, i.e. V out ＝V ref The value of the duty ratio signal is controlled by the input voltage signal and changes along with the conversion of the input voltage signal. When the input voltage signal increases, the duty ratio signal D decreases; when the input voltage signal decreases, the duty ratio signal D increases. Thus, the input voltage signal may be a direct current voltage signal or an alternating current voltage signal.
When the system is operating in transient, when V out <V ref When, V out And V ref The larger the phase difference is, the larger the duty ratio signal D is, at V out Close to V ref The duty ratio signal is decreased until the steady state V out The duty cycle signal D is no longer affected; when V is out >V ref When, V out And V ref The larger the phase difference, the smaller the duty ratio signal D is, at V out Close to V ref The tendency of the duty signal to become small is decreasing. Therefore, the feedforward control method provided by the embodiment can enable the system to be changed from a transient state to a steady state.
The value of the duty ratio signal can be used for controlling a PWM signal for controlling a main switching tube, and then the main switching tube is controlled through the main PWM signal; and controlling the PWM signal for controlling the auxiliary switching tube through the value of the complementary duty ratio signal, and further controlling the auxiliary switching tube through the auxiliary PWM signal.
The main switching tube is controlled by adopting the duty ratio signal, and the complementary duty ratio indirectly controls the main switching tube (if the PWM signal of the auxiliary switching tube is complementary with the PWM signal of the main switching tube, the complementary duty ratio can directly control the auxiliary switching tube to realize duty ratio signal control), so that the system can more quickly work from a transient state to a steady state.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements a feedforward control method as described in embodiments of the present application.
In practice, the computer readable storage medium may take any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts indicated as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A feed forward control method, characterized in that the method comprises:
acquiring an input voltage value and an output voltage value of a system;
calculating the value of a duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in an inverse relationship with the duty cycle;
and controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
2. The method of claim 1, wherein after obtaining the value of the duty cycle signal, the method further comprises:
calculating the value of the complementary duty cycle signal according to the duty cycle signal;
and controlling the on and off of an auxiliary switching tube of the system according to the value of the complementary duty ratio signal.
3. The method of claim 1, wherein the formula for calculating the value of the duty cycle signal according to the input voltage value, the output voltage value, and the preset output voltage reference value is as follows:
Figure FDA0003900815510000011
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
4. The method of claim 2, wherein the formula for calculating the value of the complementary duty cycle signal from the duty cycle signal is as follows:
Figure FDA0003900815510000012
wherein D' represents the value of the complementary duty cycle signal, D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
5. A feedforward control arrangement, the arrangement comprising: the device comprises an acquisition module, a first calculation module and a first control module;
the acquisition module is used for acquiring an input voltage value and an output voltage value of the system;
the first calculation module is used for calculating the value of the duty ratio signal according to the input voltage value, the output voltage value and a preset output voltage reference value; the output voltage value is in an inverse relationship with the duty cycle;
and the first control module is used for controlling the conduction and the disconnection of a main switching tube of the system according to the value of the duty ratio signal.
6. The apparatus of claim 5, wherein the apparatus further comprises: the second calculation module and the second control module;
the second calculating module is used for calculating the value of the complementary duty ratio signal according to the duty ratio signal;
and the second control module is used for controlling the on and off of an auxiliary switching tube of the system according to the value of the complementary duty ratio signal.
7. The apparatus of claim 5, wherein the first computing module is specifically configured to:
Figure FDA0003900815510000021
wherein D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
8. The apparatus of claim 6, wherein the second computing module is specifically configured to:
Figure FDA0003900815510000022
wherein D' represents the value of the complementary duty cycle signal, D represents the value of the duty cycle signal, V in Representing the value of the input voltage, V out Representing the value of the output voltage, V ref Representing the output voltage reference value.
9. A feedforward control apparatus, characterized by comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the feedforward control method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium having stored therein instructions that, when run on a terminal device, cause the terminal device to execute a feed-forward control method according to any one of claims 1 to 4.
CN202211289489.XA 2022-10-20 2022-10-20 Feedforward control method, device, equipment and storage medium Pending CN115566886A (en)

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