Building temperature control system with feedback and feedforward total energy flow compensation

1. A system for controlling temperature of a building space, the system comprising:

HVAC equipment configured to serve the building space;

a plurality of sensors configured to measure a plurality of parameters relating to the building space;

a control system configured to:

receive data from the plurality of sensors;

generate a plurality of disturbance energy transfer estimates for the building space based on the data from the plurality of sensors;

determine a feedforward energy transfer contribution based on the disturbance energy transfer estimates;

determine a feedback energy transfer contribution based on a measured temperature of the building space and a temperature setpoint for the building space;

combine the feedforward energy transfer contribution and the feedback energy transfer contribution to determine a target energy transfer to be provided to the building space by the HVAC equipment; and

control the HVAC equipment to provide the target energy transfer.

2. The system of claim 1 , wherein the feedforward energy transfer contribution is calculated as approximately an opposite of a total disturbance energy transfer estimate, the total disturbance energy transfer estimate defined as a sum of the plurality of disturbance energy transfer estimates.

3. The system of claim 1 , wherein the plurality of disturbance energy transfer estimates comprise a people energy transfer estimate that quantifies an energy transfer from one or more people in the building space to indoor air of the building space.

4. The system of claim 3 , wherein the plurality of sensors comprise an occupancy sensor configured to obtain a measurement of a number of people located in the building space; and

wherein the control system is configured to generate the people energy transfer estimate based on the measurement from the occupancy sensor and a predetermined per-person heat flow.

5. The system of claim 3 , wherein:

the plurality of sensors comprise:

an occupancy sensor configured to obtain a measurement of a number of people located in the building space;

a carbon dioxide sensor configured to obtain a measurement of a carbon dioxide concentration in the building space; and

the control system is configured to generate the people energy transfer estimate based on the measurement of the number of people located in the building space and the measurement of the carbon dioxide concentration in the building space.

6. The system of claim 1 , wherein the plurality of disturbance energy transfer estimates comprise a computer energy transfer estimation that quantifies an energy transfer from one or more computers in the building space to indoor air of the building space.

7. The system of claim 6 , wherein the plurality of sensors comprise a network router configured to provide a wireless network for the building space and obtain data indicating a number of computers connected to the wireless network for the building space; and

wherein the control system is configured to generate the computer energy transfer estimation based on the number of computers connected to the wireless network for the building space.

8. The system of claim 1 , wherein a plurality of disturbance heat flow estimates comprise a solar radiation energy transfer estimation that quantifies a rate of heat transfer to the building space caused by solar radiation; and

wherein the control system is configured to generate the solar radiation energy transfer estimation based on at least one of brightness measurements from an exterior light sensor of the plurality of sensors, position information for an automated window shade, or weather data.

9. The system of claim 1 , wherein the plurality of disturbance energy transfer estimates comprise at least one of a lighting energy transfer estimate, a projector energy transfer estimate, an electrical load energy transfer estimate, or a telephone energy transfer estimate.

10. A method for controlling temperature of a building space, the method comprising:

obtaining measurements of various parameters relating to the building space;

generating a plurality of disturbance energy transfer estimates for the building space based on the measurements;

determining a feedforward energy transfer contribution based on the plurality of disturbance energy transfer estimates;

determining a feedback energy transfer contribution based on a measured indoor air temperature of the building space and a temperature setpoint for the building space;

combining the feedforward energy transfer contribution and the feedback energy transfer contribution to determine a target energy transfer to be provided to the building space by HVAC equipment; and

controlling the HVAC equipment to provide the target energy transfer to the building space.

11. The method of claim 10 , wherein determining a feedforward energy transfer contribution based on the plurality of disturbance energy transfer estimates comprises:

calculating a total disturbance energy transfer estimate as a sum of the plurality of disturbance energy transfer estimates; and

defining the feedforward energy transfer contribution as approximately an opposite of the total disturbance energy transfer flow estimate.

12. The method of claim 10 , wherein generating a plurality of disturbance energy transfer estimates for the building space based on the measurements comprises generating a people heat flow estimate that quantifies a energy transfer from one or more people in the building space to indoor air of the building space.

13. The method of claim 12 , wherein obtaining measurements of various parameters relating to the building space comprises measuring, by an occupancy sensor, a number of people located in the building space; and

wherein generating the people energy transfer estimate comprises calculating the people energy transfer estimate based on the number of people located in the building space and a predetermined per-person energy transfer.

14. The method of claim 12 , wherein obtaining measurements of various parameters relating to the building space comprises measuring, by an occupancy sensor, a number of people located in the building space and measuring, by a carbon dioxide sensor, a carbon dioxide concentration in the building space; and

wherein generating the people energy transfer estimate comprises calculating the people energy transfer estimate based on the number of people located in the building space and the carbon dioxide concentration in the building space.

15. The method of claim 10 , wherein generating the plurality of disturbance energy transfer estimates for the building space based on the measurements comprises generating a computer energy transfer estimation that quantifies a rate of heat transfer from one or more computers in the building space to indoor air of the building space.

16. The method of claim 15 , wherein obtaining measurements of various parameters relating to the building space comprises obtaining an indication of a number of computers that are connected to a network for the building space; and

wherein generating the computer energy transfer estimation comprises calculating the computer energy transfer estimation based on the indication of the number of computers that are connected to the network for the building space.

17. The method of claim 10 , wherein obtaining measurements of various parameters relating to the building space comprises at least one of obtaining brightness measurements from an exterior light sensor, obtaining position information for a window shade at the building space, or obtaining weather data from a weather service; and

wherein generating the plurality of disturbance energy transfer estimates for the building space comprises generating a solar radiation heat flow estimation that quantifies a rate of heat transfer to the building space caused by solar radiation based on at least one of the brightness measurements, the position information for the window shade, or the weather data.

18. The method of claim 10 , wherein generating the plurality of disturbance energy transfer estimates for the building space comprises generating at least one of a lighting energy transfer estimate, a projector energy transfer estimate, an electrical load energy transfer estimate, or a telephone energy transfer estimate.

19. One or more non-transitory computer-readable media containing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

obtaining measurements of various parameters relating to a building space;

generating a plurality of disturbance energy transfer estimates for the building space based on the measurements;

determining a feedforward energy transfer contribution based on the plurality of disturbance energy transfer estimates, the feedforward energy transfer contribution specifying a target energy transfer to be provided to the building space by HVAC equipment, the target energy transfer approximately equal to an opposite of a sum of a plurality of disturbance heat flow estimates; and

controlling the HVAC equipment to provide the target energy transfer to the building space.

20. The one or more non-transitory computer-readable media of claim 19 , wherein controlling the HVAC equipment to provide the target energy transfer to the building space causes an indoor air temperature of the building space to be maintained at an approximately constant value.

21. The method of claim 10 , wherein combining the feedforward energy transfer contribution and the feedback energy transfer contribution to determine a target energy transfer comprises calculating an average of the feedforward energy transfer contribution and the feedback energy transfer contribution.

22. The system of claim 1 , wherein the HVAC equipment comprises a variable air volume (VAV) box and the control system is configured to provide the target energy transfer by:

determining a supply air temperature setpoint and an air flow rate setpoint based on the target energy transfer; and

controlling the VAV box to achieve the supply air temperature setpoint and the air flow rate setpoint.