41results about "Mechanical oscillations control" patented technology

The embodiment of the application relates to the technical field of tower vibration suppression, and provides a tower vibration active suppression method and system based on PLC control, real-time acquisition of tower acceleration signals, extraction of window vibration energy and dominant frequency characteristics, construction of a composite evaluation system containing performance degradation and model mismatch dimensions, utilization of index normalization and nonlinear weighted fusion technology, intelligent quantification of urgency of re-identification, triggering of a lightweight online identification and control parameter recalculation process only when system control performance significantly decreases and it is confirmed that the decrease is caused by model parameter drift, otherwise maintaining a low-power consumption monitoring mode, which effectively solves the performance attenuation problem caused by the fact that a traditional fixed parameter controller cannot adapt to the time-varying of tower structure characteristics, avoids excessive occupation of PLC computing resources by a persistent complex algorithm, realizes efficient and robust control of a time-varying structure system on a limited computing power platform, and ensures vibration reduction effect in the whole life cycle of a fan.

The application discloses a machining chatter suppression method, system, device and storage medium, and relates to the technical field of machining. The method comprises the following steps: monitoring a vibration signal of a target machining device in real time, and transmitting the vibration signal to a controller; processing the vibration signal according to a preset active chatter suppression algorithm to generate a control signal; and driving an inertial driving device according to the control signal, so that the inertial driving device generates an inertial force corresponding to the vibration signal and acts on the target machining device. The controller processes the vibration signal by using the preset active chatter suppression algorithm and generates the control signal, thereby guaranteeing the accuracy of the vibration suppression control and replacing a traditional experience-based control mode. Then, the inertial driving device generates the inertial force corresponding to the vibration signal, the inertial force acts on the target machining device, the machining chatter is effectively suppressed, the stability of the machining process is improved, and the machining efficiency and the surface quality of a part are guaranteed.

To provide a motion system (10) including a motion hardware system (100) and a motion control system configured to control the operation of the motion hardware system (100).SOLUTION: A motion control system includes feed forward control including an anti-vibration system controller (230) for controlling the operation of at least 3DOF of an active anti-vibration system (114) for compensation by the action of a reaction force (F) on a pedestal (112) against a reaction force predicted to act by a motion stage (102) of the pedestal (112) upon operation. The feed forward control includes: a memory (224) for saving a character string which defines a motion equation based on topology of the motion stage (102); and a processing unit (222) for processing the character string for computing the reaction force (F).SELECTED DRAWING: Figure 2

The application discloses a radial magnetic bearing displacement vibration suppression method based on a phase shift reduced-order generalized integrator, and comprises the following steps: firstly, a magnetic bearing system model containing rotor mass imbalance is established; then, a synchronous displacement vibration suppression algorithm based on a phase shift reduced-order generalized integrator is designed, the orthogonal relationship of X / Y radial displacement error signals of the magnetic bearing is utilized, and the simultaneous extraction and compensation of double-channel synchronous components are realized; finally, the system stability is analyzed, and the phase shift angle parameters are designed in sections; the phase shift angle is introduced to adjust the phase without changing the amplitude characteristics at the synchronous frequency, so that the system stability is expanded. The application adopts the reduced-order generalized integrator structure, has less state quantity and lower calculation amount, and is suitable for high-speed real-time implementation of DSP / FPGA; the phase shift angle is introduced for phase advance adjustment, so that the stable working range of the algorithm can be effectively expanded; the orthogonal characteristics of the displacement signals are utilized to realize the unified implementation of X / Y double-channel synchronous compensation, and the structure is more simple.

The invention discloses an acceleration waveform reproduction method of a two-degree-of-freedom electro-hydraulic vibration table. The method comprises the following steps: calculating an impedance matrix of a two-degree-of-freedom electro-hydraulic acceleration servo system; initializing parameters of a two-degree-of-freedom frequency characteristic compensation controller; optimizing parameters of the two-degree-of-freedom frequency characteristic compensation controller; constructing a discrete pulse transfer function matrix of the two-degree-of-freedom frequency characteristic compensation controller; calculating the frequency characteristic of the system after the two-degree-of-freedom frequency characteristic compensation controller and the two-degree-of-freedom electro-hydraulic acceleration servo system are connected in series; constructing a discrete pulse transfer function matrix of the two-degree-of-freedom waveform reproduction controller; the two-degree-of-freedom electro-hydraulic acceleration servo system is driven to move. According to the method, the time domain peak error of the acceleration output signal and the acceleration reference signal of the two-degree-of-freedom electro-hydraulic acceleration servo system can be controlled within 20%, and the waveform reproduction precision of the acceleration reference signal is obviously improved.

This invention provides an inertial-capacitive damper, disposed between a first connecting mechanism and a second connecting mechanism and located within a protective sleeve. The first connecting mechanism is fixedly connected to one end of the protective sleeve, and the second connecting mechanism is located at the other end of the protective sleeve. A flywheel is rotatably connected within the protective sleeve near the first connecting mechanism. A threaded sleeve is fixedly connected within the flywheel, and a threaded rod is screwed into the threaded sleeve. The threaded rod is fixedly connected to a rotating frame. The flywheel, threaded sleeve, threaded rod, and rotating frame are coaxially arranged. A spring is wound around the outer side of the threaded sleeve. The second connecting mechanism sequentially connects a ball screw, a gearbox, a damping rod, and a rotating connector from near to far. The ball screw is movably connected to the second connecting mechanism, passes through the gearbox, and is fixedly connected to the damping rod. The distal end of the damping rod is fixedly connected to the rotating connector. The advantages of this invention are: reasonable structural design, effective vibration reduction and buffering, and improved service life and operational stability.

The invention discloses a finite time composite vibration suppression control method and system for same-frequency vibration of a magnetic bearing-rotor system. The finite time composite vibration suppression control method comprises the steps that a synchronous vibration component in rotor displacement is extracted through a same-frequency narrow-band tracking filter; performing phase lead correction by using an all-pass phase shifter, generating a feed-forward compensation force by combining an equivalent gain and electromagnetic linear model based on a feedback link, and offsetting a displacement stiffness force which causes vibration transmission from a physical source; a finite time same-frequency narrow-band extended state observer is constructed, and rapid and accurate finite time estimation is carried out on total disturbance including model mismatch; and designing a finite time nonsingular terminal sliding mode controller, fusing the feedforward compensation force and the disturbance estimation value, and generating a control law with a finite time convergence characteristic. According to the method, through cooperation of feed-forward compensation, finite time observation and finite time control, rapid convergence and high-robustness stabilization of same-frequency vibration and effective suppression of control buffeting under a dynamic working condition are realized.

This invention proposes a secondary channel modeling method for a vibration active control system based on a top-mounted rotor hub. The method includes: activating the actuator of the vibration active control system when the rotor hub is not rotating, outputting actuating forces in both directions. These forces serve as load inputs to the test bench. The actuating forces are transmitted via a path that sequentially passes through the rotor hub actuator mounting location, the collector ring, the shaft, the spring, and the base, ultimately reaching the vibration sensor mounting location. The vibration sensor collects the vibration response at this location, identifying the secondary channel transfer function matrix in the fixed state. The secondary channel transfer function matrix is ​​then substituted into the output force transmission relationship formulas for the fixed and rotating states to obtain the initial value of the secondary channel model in the rotating state. Using this initial value, an adaptive algorithm is used as the physical model for online identification of the secondary channel, enabling online modeling of the system's secondary channels under rotor hub rotation conditions. This method allows for online iterative construction of time-varying secondary channel models, resulting in high modeling efficiency.

The application discloses a parallel platform vibration suppression method based on frequency division, and belongs to the technical field of space optical tracking, and comprises the following steps: performing frequency scanning on an open-loop system of a four-leg motion platform for space optical load vibration isolation and pointing integration with linear acceleration as output, determining a system resonance frequency range, and obtaining an expression of a mathematical model of the open-loop system; synthesizing linear acceleration reflecting motion of an upper platform by acquiring acceleration of different directions of the upper platform; completing design optimization of a band-pass filter and a controller corresponding to different frequency band resonances; realizing feedback control of a low-frequency band and a medium-frequency band according to the linear acceleration; and processing unmodeled dynamics and noise of a high-frequency band of the open-loop system by using a low-pass filter, so that vibration of the high-frequency band is effectively suppressed without affecting phase characteristics of the low-frequency band and the medium-frequency band of the open-loop system. The method can effectively improve damping in a wide frequency band range, suppress the influence of vibration on the system, and improve vibration isolation performance of the overall system.

This application provides a high-temperature superconducting pinned suspension active-passive hybrid vibration isolation system and method, relating to the field of vibration isolation technology. The vibration isolation system includes a measurement and control system and a suspension system. The vibration isolation method includes stabilizing the float of the suspension system relative to the stator in an equilibrium position through suspension pretreatment. When externally excited, vibration data generated by the float connected to the isolated body relative to the stator is collected and processed. The controller processes the vibration data through an internally preset PID control algorithm and outputs a control signal. The coil on the float receives the output control signal and executes it to achieve the preset state. The system can achieve self-stabilized suspension without external energy input. At the same time, a solenoid coil is wound around the outside of the permanent magnet, and the suspension force is actively controlled in real time by adjusting the transmission current of the coil. This overcomes the problems of passive vibration isolation systems, such as the isolation frequency band depending on the natural frequency and the inability to adjust the stiffness and damping.

This invention relates to the field of automated control technology for marine engineering equipment, and discloses a multi-dimensional vibration suppression and adaptive loading and unloading control system and method for an active-passive coordinated drive FLNG / LNGC platform. The system includes sensing devices, a controller, and an execution loop. The sensing devices are used to collect the relative spatial pose signals of the two hulls and the spatial geometric configuration parameters of the transmission arm. The execution loop includes a proportional directional valve, a drive cylinder, and a proportional throttle valve connected in parallel between the drive cylinder and the accumulator group. The controller constructs a transient kinematic Jacobian matrix based on the collected data and calculates the pose stiffness transfer rate, thereby updating the cutoff frequency of the filter array. The pose signal is decomposed into low-frequency drift components and high-frequency wave excitation components. The controller generates active displacement tracking commands for the low-frequency components to control the proportional directional valve. This invention integrates low-frequency active displacement following and high-frequency passive unloading dissipation within the same hydraulic circuit, avoiding mechanical interference and reducing the risk of structural damage.

The application discloses a non-singular fast terminal sliding mode vibration active control method based on a compensation function observer, 1) according to elastic dynamics, a fourth-order modal equation of a four-side fixed support plate structure driven by an electromagnetic inertial actuator is established; 2) in view of external unknown interference and modeling uncertainty existing in the system, a compensation function observer is designed to realize real-time estimation and compensation; 3) a non-singular fast terminal sliding mode surface is constructed, and a sliding mode control law is designed in combination with the observer output, so that the singularity problem of a traditional terminal sliding mode is solved, and the time for system state to reach a balance point is shortened through a fast convergence term; 4) a comparison experiment is designed, and the composite control method designed in the application can significantly reduce the vibration amplitude of the four-side fixed support plate while guaranteeing the finite time stability of the system, and has stronger anti-interference ability and higher vibration suppression precision compared with the traditional sliding mode control.

The application discloses a kind of multi-degree-of-freedom staggered active vibration absorption method, system, photolithography equipment and storage medium, the method comprises: obtaining vibration data;Based on the vibration data, the vibration state parameter of each degree of freedom at the current time is determined;Based on the vibration state parameter, according to the preset staggered control strategy, the control instruction for multiple actuator units is generated;Based on the control instruction, the corresponding active damping force is generated by driving the actuator unit.The embodiments of the present application aim to overcome the technical defects of potential instability, high energy consumption and poor adaptability to time-varying disturbance caused by control resource competition in traditional multi-degree-of-freedom active vibration control system, so as to realize a more stable, more efficient and more adaptive vibration suppression.

A stationary vibration isolation system comprising a plurality of isolators by means of which a vibration-isolated load is supported. The vibration isolation system includes a plurality of actuators by means of which vibrations are actively counteracted. Each isolator includes its own control unit with a digital-to-analog converter for controlling the actuators.

The invention discloses a silencing vibration stopper and an adjusting method thereof, and belongs to the technical field of vibration control. The silencing vibration stopper comprises a belleville spring set, a spring oscillator unit, a lead screw adjusting mechanism and a frequency modulation control system; the spring oscillator unit comprises a top plate, a spring oscillator and a bottom plate. The belleville spring set is arranged between the spring oscillator and a first supporting column set and a second supporting column set between the spring oscillator and the top plate and the bottom plate in a sleeving mode. The lead screw adjusting mechanism comprises an adjusting lead screw, and the adjusting lead screw can penetrate through the top plate and the spring vibrator and then is connected with the middle connecting column. The spring oscillator unit is provided with an acceleration sensor group; the frequency modulation control system collects vibration signals in real time through the acceleration sensor set, the lead screw adjusting mechanism is driven through a PID control algorithm, the pre-tightening force of the belleville spring set is dynamically adjusted, and the vibration absorption frequency is adjusted. Dynamic adjustment of the inherent frequency can be achieved, the structure is convenient and fast, the adjustment precision is high, the response speed is high, and the requirement for narrow-frequency-domain vibration suppression is met.

This invention relates to the field of adaptive control technology in high-end equipment manufacturing, specifically to a traction AGV trolley, an adaptive control system and method, including a carrying platform and working components. The working components include a sliding bracket, damping sleeves, mounting brackets, adjusting bases, buffer components and control components. The sliding bracket is slidably mounted on the carrying platform via four cylinders at its bottom. Four damping sleeves are respectively fitted onto the four cylinders at the bottom of the sliding bracket, and all four damping sleeves are fixedly mounted on the carrying platform. Four mounting brackets are fixedly mounted on the sliding bracket, and four adjusting bases are slidably mounted on the carrying platform, with each adjusting base corresponding to a mounting bracket. The buffer components are positioned between the mounting brackets and the adjusting bases. The control components are connected to the carrying platform. The invention allows for adjustment of the damping system according to specific load conditions during actual use, ensuring that the overall damping effect of the damping system remains stable under different conditions.

This invention discloses a vibration suppression system and method based on momentum cancellation, comprising an XY worktable mounted on a platform, a movable compensation unit, a drive unit, and a control unit; the control unit is electrically connected to the drive unit, and the control unit acquires the acceleration 'a' of the XY worktable. t And based on the mass m of the XY worktable t With the mass m of the movable compensation unit c The ratio is used to calculate the acceleration 'a' of the movable compensation unit. c The drive unit operates based on acceleration a. c This invention drives the movable compensation unit, causing the sum of the inertial forces of the XY worktable and the movable compensation unit to approach zero, thereby suppressing vibrations transmitted to the platform. The invention features a simple structure and stable control, requiring no additional mechanical limits or increased overall weight. It achieves vibration suppression at the source by controlling the movement of the movable compensation unit through a closed-loop speed control system.

This invention relates to an adjustment circuit, integrated circuit, gyroscope device, and method for adjusting the driving motion of a gyroscope, comprising: a phase adjustment loop for adjusting the frequency of the driving motion of the gyroscope; an amplitude adjustment loop for adjusting the amplitude of the driving motion of the gyroscope; and a digital control unit for manipulating the phase adjustment loop and the amplitude adjustment loop, wherein the phase adjustment loop and / or the amplitude adjustment loop includes a time-discrete analog filter, the time-discrete analog filter including at least one integrated operational amplifier, the integrated operational amplifier being turned on by the digital control unit during a sampling phase and turned off by the digital control unit during a reset phase, wherein the duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit of the adjustment circuit to adjust target parameters according to the target specifications of the adjustment circuit.

The present application belongs to the field of automation technology, and provides a kind of multi-degree-of-freedom redundant micro-vibration feedforward combination suppression method, which includes the steps S1 of designing multi-degree-of-freedom combination redundant vibration absorber structure;The step S2 of designing multi-degree-of-freedom combination redundant vibration absorber structure according to multi-degree-of-freedom;The step S3 of designing optimized feedforward suppression algorithm for coupling control of actuator.The present application is a kind of combination redundant multi-degree-of-freedom micro-vibration feedforward suppression method for micro-vibration suppression, utilizes four vibration actuators to realize multi-degree-of-freedom vibration suppression system, can improve the efficiency of vibration suppression in normal mode, and uses the optimized feedforward control algorithm, realizes the coupling control of multi-degree-of-freedom, and according to the health state of vibration absorber, realizes the reliable work of system in one degree of fault mode, improves the reliability of system.

This invention discloses a wave generation control method and apparatus for wave generators deployed at both ends in a wave testing tank. First, the target positions and target angular frequencies of two wave trains are determined based on the target function, which can be wave attenuation, bidirectional wave generation, or focused wave generation. Then, the propagation times of the two wave trains are calculated respectively. Based on the propagation times, the target activation time of the corresponding wave generator is determined. Finally, the corresponding wave generator is activated at the target activation time, generating the corresponding waves based on the target wave height and target angular frequency. In this invention, each end of the wave generators deployed at both ends can independently control wave generation at each end. Based on the synergistic effect of the wave generators deployed at both ends, wave propagation and superposition are controlled, accurately generating focused waves and simulating the effect of concentrated waves on marine structures.

The application discloses a diffusion multi-channel vibration active control method based on an adaptive fusion matrix, and comprises the following steps: establishing a multi-channel vibration active control system model considering crosstalk; deriving an adaptive distributed FXLMS algorithm suitable for the present scene based on a diffusion structure, wherein the scene is a multi-channel strong coupling mechanical vibration active control scene, the algorithm is a distributed vibration active control method based on the diffusion structure, and the fusion matrix in the algorithm is in a form capable of adaptively learning and adjusting weight coefficients; initializing parameters, continuously iterating a filter weight vector according to the algorithm, and realizing active vibration isolation by applying a secondary force through an actuator. Compared with the prior art, the application proposes a clearer and more complete adaptive fusion matrix design method, which can further reduce a global mean square error index while ensuring a lower calculation amount, and the proposed fusion matrix iteration formula is a time-varying and adaptive method, can learn unknown parameters and cope with non-stationary environments, and has good robustness.

This invention discloses a vibration suppression method, control board, device, and storage medium. The invention relates to the field of vibration reduction technology for motion tables. The method includes: a first processor acquiring motion data of a support platform, preprocessing the motion data, and sending the preprocessed motion data to shared memory; a second processor acquiring motion data of the motion table and obtaining the preprocessed motion data from the shared memory; the second processor performing a Fourier transform on the motion data of the motion table and the preprocessed motion data of the support platform to obtain transformed data, and determining the resonance point of the motion table and the support platform based on the transformed data; the second processor determining the damping force of the motion table based on the resonance point of the motion table and the support platform, and using the damping force to counteract the force on the motion table to suppress the vibration generated by the motion table.

Multivariate random signal synthesis and control system (1.a) for the generation of Gaussian and non-Gaussian random signals for the purpose of controlling a multiaxial vibration machine (1.d) or recording the signals for further use, comprising a reverse matrix transformation module (2.a), a channel estimator (2.b), a spectral control module (2.c), a kurtosis estimator (2.d), a kurtosis control module (2.e), a non-Gaussian noise synthesizer (2.f) and a transformation matrix module (2.g) of order signals.

This invention discloses a method and system for resonant frequency tracking and control of diamond nitrogen-vacancy color centers, belonging to the field of quantum sensing technology. The method includes: setting an initial center frequency output from a microwave source; during the tracking and control process, recording the changes in fluorescence signals generated by the diamond nitrogen-vacancy color centers under microwave frequency modulation, and demodulating to obtain the full-amplitude demodulated amplitude. R The system determines whether the value is less than the dead zone threshold; if so, the center frequency of the microwave source output remains unchanged; otherwise, the demodulation amplitude is based on the full amplitude value. R Calculate the microwave frequency adjustment Δ f The center frequency of the microwave source is determined based on the phase frequency characteristics and the real-time demodulation phase difference Δφ during the current frequency tracking control process. f The adjustment direction is 0; the adjustment amount Δ is based on the microwave frequency. f The center frequency of the microwave source is adjusted by regulating the direction of the modulation to achieve resonant frequency tracking; the phase frequency characteristic refers to the characteristics of the demodulated spectral lines on both sides of the resonant frequency. This enhances the robustness and accuracy of the resonant frequency tracking method.

The present application belongs to the technical field of vibration control, and aims to solve the problem that the existing cantilever beam vibration test bench does not consider the influence of the oil cylinder and the roller on the dynamic characteristics of the cantilever beam in the design, lacks components for simulating the oil cylinder and the roller, and cannot simulate the vibration of the tunneling equipment when working. A kind of end concentrated mass cantilever beam vibration semi-active control experiment system and method is provided, compared with other cantilever beam vibration test benches, the support member for simulating the influence of the oil cylinder on the vibration is added, and the main frame, the equal cross section beam and the support are connected in a hinged manner, which can better study the dynamic characteristics and semi-active control method of a series of similar mechanisms such as tunneling equipment when working, is simple to operate, can quickly process and analyze various vibration signals, and can be used to verify and compare the effectiveness and practicability of the vibration caused by various tunneling equipment cutting arms when working and the semi-active control algorithm.

This invention relates to the field of mechanical control technology, and more particularly to a spatial truss vibration control method and system based on deep reinforcement learning. The method utilizes Automatic Reinforcement Learning (ATMD) to control the truss, and during the control process, it collects the displacement and velocity at the truss nodes, as well as the displacement and velocity output by ATMD. A state vector is formed using the four currently collected data points, and a reward function is constructed using the displacement and velocity at the truss nodes and the control force output by ATMD. Reinforcement learning is then performed to output the control force generated by ATMD in the next time step. This invention proposes an innovative multimodal vibration control method by combining deep reinforcement learning and ATMD control technology, effectively overcoming the limitations of existing methods in multimodal vibration control, system adaptability, real-time optimization, and energy efficiency optimization. This technical solution can achieve efficient vibration suppression in dynamic and complex environments, ensuring the robustness and high efficiency of the system.

The application provides a multi-angle combined mechanical end vibration suppression method, analyzes the source of mechanical end vibration, identifies the vibration caused by input signal noise, resonance excitation and signal and system characteristic mismatch; calculates the inherent frequency of a multi-modal mechanical system; performs smoothing processing on the input signal to filter out Gaussian white noise; designs a notch filter to remove the frequency components in the input signal that coincide with or are close to the inherent frequency; and connects an EI shaper and a ZVD shaper in series to normalize and reconstruct the input signal. The application comprehensively suppresses mechanical end vibration from multiple angles, can achieve 30%-40% end vibration suppression effect under the working condition containing a large amount of random noise and resonance frequency, reduces the vibration amplitude at the resonance frequency by nearly 50%, has the advantages of fast response speed and strong robustness, and is suitable for multi-modal mechanical systems such as industrial robot arms, multi-link actuators and precision numerical control machining equipment.

The application discloses a method, medium and product for reducing vibration peak value of a structure to be protected, and relates to the technical field of vibration control. The method comprises the following steps: determining vibration source vibration data, vibration source position data, vibration source environment data, structure first measured vibration data of the structure to be protected and structure reference vibration data; determining vibration isolation requirement data between the vibration source and the structure to be protected according to the structure first measured vibration data and the structure reference vibration data; determining first structure information and a first structure deployment position of a vibration isolation structure based on the vibration isolation requirement data, the vibration source position data, the vibration source vibration data, the vibration source environment data and structure position data of the structure to be protected; and deploying the first vibration isolation structure based on the first structure information and the first structure deployment position, so as to reduce the vibration peak value of the structure to be protected. The application can reduce the design and use cost of the vibration isolation structure as much as possible while ensuring the vibration reduction effect and the safety of the construction site.

The invention discloses a magneto-rheological superstructure radial vibration reduction bearing system with an adjustable band gap and a control method. The magneto-rheological superstructure radial vibration reduction bearing system comprises a bearing lining layer, a magnetic field regulation and control module and a magneto-rheological superstructure vibration reduction unit. The bearing lining sleeves the outer wall of the shaft, and the plurality of magnetic field regulation and control modules are arranged on the outer wall of the bearing lining at intervals; the bearing lining is of a hollow annular structure and is sequentially provided with an inner lining, a middle layer and an outer lining from inside to outside, and the multiple magneto-rheological superstructure vibration reduction units are embedded into the middle layer of the bearing lining. The magneto-rheological superstructure vibration reduction unit is of a local resonance type superstructure and comprises a rigid hollow cylinder, a magneto-rheological elastomer and rigid vibrators, an inner cavity of the rigid hollow cylinder is filled with the magneto-rheological elastomer, and the rigid vibrators are evenly embedded in the magneto-rheological elastomer in the axial direction in an array mode; the shear modulus of the magneto-rheological elastomer is regulated and controlled by the magnetic field regulation and control module, damping band gap self-adaptive regulation and control of the magneto-rheological superstructure damping unit are achieved, and the magneto-rheological superstructure damping unit can adapt to complex working conditions such as equipment rotating speed switching and load fluctuation in a self-adaptive mode.