91results about How to "Optimizing Control Parameters" patented technology

The invention relates to the technical field of fluid control, and discloses a fluid control intelligent adjusting method and system for a micro-fluidic chip, and the method comprises the steps: carrying out the data collection of a self-adaptive fluid controller, a micro-fluidic channel pressure sensor array, a temperature sensor array and a flow sensor array based on the micro-fluidic chip; obtaining real-time fluid parameter monitoring data; performing feature extraction to obtain a multi-dimensional fluid feature matrix; establishing a three-dimensional fluid model of the microfluidic channel, and solving to obtain flow field distribution data; inputting the flow field distribution data into a Kriging agent model, establishing a mapping model of channel width, depth, length and fluid control performance, and calculating to obtain an optimal geometric parameter combination; and performing multi-level calculation on the fluid pressure uniformity, the temperature distribution uniformity and the flow stability to obtain a hierarchical fluid parameter control strategy. According to the invention, the problem of multi-physics field coupling is effectively solved, the calculation complexity of the control system is reduced, and the execution efficiency of the control strategy is improved.

The invention relates to the technical field of robot control, in particular to a time delay double-arm collaborative robot control method based on Udwadia-Kalaaba and a cooperative game theory, and the method mainly comprises the following steps: obtaining the control input of a double-arm collaborative robot system obeying servo constraint according to the uncertainty of the system; a dynamic model is simplified by adopting a time delay estimation method so as to realize time delay estimation and double-mechanical-arm cooperative impedance control, a self-adaptive robust controller is established according to time-varying uncertainty existing in a system in combination with a self-adaptive updating law, and optimal control parameters of the robust controller are obtained through a cooperative game method. By the adoption of the method, control parameters can be optimized, performance maximization is achieved, it is guaranteed that the robot can be effectively balanced among different performance targets, and optimization of the overall control performance of the system is promoted.

The invention discloses a preparation method of a small-size defective cerium-based MOFs supported metal catalyst for hydrogenation, and belongs to a preparation technology of a nano composite catalytic material. The preparation method comprises the following steps: in a cerium-based MOFs synthesis process, introducing a proper amount of monocarboxylic acid as a regulator to synthesize a cerium-based MOFs carrier with adjustable defects and size, then loading a metal active component to the cerium-based MOFs carrier, and combining adjustment of reduction conditions to prepare the cerium-based MOFs loaded metal composite catalyst with small-size defects for DCPD hydrogenation. The defects and the size of the cerium-based MOFs carrier are effectively regulated and controlled through the monocarboxylic acid regulator, controllable regulation of the electronic state, the size and the catalytic activity of the loaded metal active component can be achieved by combining regulation and control of the reduction condition of the loaded metal nanoparticle active component, the process is simple, parameters are controllable, the period is short, and the method is suitable for DCPD hydrogenation large-scale production.

The invention relates to the technical field of crystal furnace control parameter optimization, and discloses a crystal furnace control parameter optimization method and system based on deep learning, and the method comprises the following steps: 1, obtaining temperature value data in a crystal furnace heating process, and analyzing the temperature value data to obtain a crystal growth state characterization value; and 2, comparing the crystal growth state characterization value with a crystal growth state characterization threshold value to generate a crystal growth state abnormal signal. The temperature value data of the crystal furnace is obtained and compared with the temperature threshold range, whether the temperature is abnormal or not is judged, the temperature abnormal data is obtained, and the crystal state characterization value is calculated based on the obtained temperature abnormal data, so that the crystal growth state in the crystal furnace can be indirectly judged through the temperature of the crystal furnace. The crystal growth state condition is judged through the crystal growth state characterization value, and a crystal growth state normal signal or a crystal growth state abnormal signal is generated.

In the system, an underwater double-bubble plasma generating device is electrically connected with a low-temperature plasma power supply, a pair of bubble reactors are arranged at intervals and at least partially immersed in a container, and a metal rod extends in a quartz tube through a positioning ring connected with a tube opening of the quartz tube; the metal rod is connected with a low-temperature plasma power supply; the gas channel introduces gas into the quartz tube through the positioning ring; the nitrogen source is communicated with one bubble reactor to introduce nitrogen through an air passage, the argon source is communicated with the other bubble reactor to introduce argon through an air passage, and when voltage is applied to the two metal bars of the pair of bubble reactors, the two bubble reactors discharge simultaneously to generate plasmas so as to generate NO2-and H2O2 active particles respectively; nO2 <-> and H2O2 active particles react to generate ONOO <->, and the sterilization and disinfection functions of the plasma activated water are enhanced based on a chemical path of the system.

The invention discloses a biological fermentation intelligent optimization method based on multi-objective optimization, and the method comprises the following steps: 1) collecting whole-process parameters of a biological fermentation process, including but not limited to raw material parameters, process parameters, regulation and control parameters and result parameters; 2) carrying out data cleaning and preprocessing on the collected parameters, and carrying out data enhancement by adopting a generative adversarial network (GAN) so as to solve the problem of insufficient samples and improve data representativeness; by integrating various advanced optimization algorithms and data enhancement technologies, the efficiency and benefits of the biological fermentation process are remarkably improved. Meanwhile, various control parameters are optimized, and the stability and precision of the process are ensured. Besides, through Pareto frontier analysis, the optimal balance among a plurality of targets can be realized, the production efficiency and the cost are further optimized, and the technical scheme is proved to have remarkable advantages in the aspects of improving the yield, reducing the cost and simplifying the process.

The invention provides a detection method and device for a steering wheel frame detection assembly line and a readable storage medium, and the method comprises the steps: obtaining multi-modal data of a steering wheel frame at a welding station, including a multi-angle welding part image, distance data between parts, and force change data; after multi-modal data is preprocessed, modal features are extracted through a multi-branch deep learning model, assembly quality classification or regression prediction is carried out through a full connection layer after fusion, and a detection model is trained; a reinforcement learning agent is constructed, assembly line control parameters serve as action space, assembly quality evaluation indexes serve as reward signals, and an optimal control parameter combination is selected according to the multi-modal data and the assembly line state represented by the detection result; a detection result is fed back, related data are stored, and the assembly line control system performs self-adaptive adjustment according to the data. The detection accuracy can be effectively improved, assembly line control is optimized, the assembly quality and production efficiency of the automobile steering wheel frame are improved, and intelligent manufacturing development is promoted.

The invention relates to the technical field of vehicle control and test, and discloses a chassis domain controller test and calibration system based on machine learning. The system is based on a machine learning technology and comprises a data acquisition unit, a calculation unit, a driving simulation unit, a test vehicle and a user interaction unit. The whole process of data acquisition, test scene design, test condition simulation, controller product test and vehicle calibration is intelligentized, the test efficiency can be greatly improved, the test cost can be reduced, the test consistency can be guaranteed, and the reliability and safety of the product can be improved.

The invention belongs to the technical field of biology, and discloses a micro-fluidic chip for in-situ single-cell non-label imaging of an upright Raman microscope. Comprising a quartz substrate subjected to surface treatment, a detachable cell chamber, a glass sheet provided with a through hole and a gravity flow channel control system, the cell chamber is used for cell culture before in-situ cell imaging, after cell culture is completed, the cell chamber is taken off, the glass sheet is bonded with the quartz substrate, the glass sheet is used for packaging a chip, and the gravity flow channel control system is used for controlling the gravity flow channel. The gravity flow channel control system is connected with the through hole and is used for guiding fluid to flow in the chip; the micro-fluidic chip can effectively package living cells and is compatible with a forward Raman microscope, so that in-situ unlabeled Raman imaging of single cells under the microscope is realized, experimental operation is simplified, more efficient cell treatment and real-time monitoring capabilities are provided, imaging stability and accuracy are improved, and the micro-fluidic chip is suitable for large-scale popularization and application. The method is of great significance to application of drug screening, biochemical research and the like.

The invention belongs to the technical field of processing and quality control of traditional Chinese medicine decoction pieces, and particularly relates to a processing technology of simmered polygala tenuifolia decoction pieces, an HPLC fingerprint spectrum of the simmered polygala tenuifolia decoction pieces, a construction method of the HPLC fingerprint spectrum and an identification method of the HPLC fingerprint spectrum. The processing technology of braised polygala tenuifolia is standardized, parameterization of the processing technology is achieved, and the adopted electromagnetic braised medicine machine is safe, stable in performance, environmentally friendly, controllable in parameter, good in batch-to-batch quality consistency of decoction pieces and suitable for industrial production. The method solves the problems of fragility of containers, poor safety, high labor intensity, uneven quality and the like in the traditional braising method, is green and environment-friendly, meets the GMP (Good Manufacturing Practice) requirements, and can improve the production efficiency by more than 20%. The invention further provides the HPLC fingerprint spectrum, a construction method of the HPLC fingerprint spectrum and an HPLC fingerprint spectrum identification method. The simmered polygala tenuifolia decoction pieces can be scientifically identified through the fingerprint spectrum.

The invention provides a test device and a detection method for simulating a floating ice impact wear behavior, the test device comprises an ice water test box, a test sample plate fixing frame and a rotary power part, the ice water test box is used for placing a mixture of water and ice blocks, the test sample plate fixing frame is used for installing a test sample plate, and the rotary power part is used for rotating the test sample plate. The test sample plate can extend into the ice water test box, and the rotary power part is connected with the test sample plate fixing frame and used for driving the test sample plate to rotate. The test sample plate extends into the ice water test box and is stirred in an ice water mixture under the driving action of the rotary power part, and the relative movement of floating ice and the test sample plate is utilized, so that the floating ice and water continuously impact and wear the test sample plate, and the navigation condition of a ship in a floating ice environment is simulated; the test device for simulating the impact wear behavior of the floating ice in the laboratory is established, a reliable device is provided for researching the damage of the floating ice in the ice area to materials such as the surface and the coating of a ship body, the dependence of actual ship verification is reduced, the test period is effectively shortened, and the investment of manpower and material resources is reduced.

The invention discloses a method and a system for establishing a small signal model of a power droop control network construction type converter, and belongs to the technical field of new energy grid connection. The method comprises the steps of establishing a mathematical model of an alternating current side of a network-building type converter according to a KVL for the network-building type converter, and determining a control structure of inner loop control of the network-building type converter; according to the data model and the control structure, establishing an active power small signal model of the network construction type converter, and according to the active power small signal model, establishing a droop control active power control loop small signal model of the network construction type converter; and converting the droop control active power control loop small-signal model into a linearization model, and based on the linearization model, establishing a power droop control network construction type converter small-signal model based on the linearization model. According to the method, the performance of the droop control grid-forming converter under different working conditions can be analyzed more accurately, and the control parameters are optimized.

The invention discloses a returned intelligent electric meter sorting assembly line monitoring system. The system comprises a feature fusion sorting module, a digital mapping control module, a chain type tracing management module, a state diagnosis module and an environment management and control module. The feature fusion sorting module collects ammeter data through an industrial camera array, a microphone array, a structured light scanner and an infrared thermal imager, and performs feature fusion classification; the digital mapping control module calculates sorting process control parameters by using a distributed control model and an optimization algorithm; the chain type traceability management module adopts a block chain technology to record data and realize information retrieval; the state diagnosis module performs equipment fault prediction in combination with a data prediction technology; the environment management and control module monitors key parameters of the sorting environment. According to the system, the automation and intelligence level of an electricity meter sorting assembly line is improved, and the problems that an existing system is low in sorting efficiency, lagged in equipment monitoring and the like are solved.

The invention relates to the technical field of water surface / underwater unmanned vehicle control, in particular to an unmanned vehicle neural network control method under online model identification. Comprising the following steps of: calculating and establishing a motion model of a water surface / underwater unmanned vehicle through a hydrodynamic theory, or establishing the motion model by adopting a neural network algorithm after real navigation data is acquired and processed in a still water state; a simulation system is established through the model, parameter simulation is controlled based on a model prediction control algorithm, and the horizontal direction is controlled; in the actual navigation process, the simulation control parameters are initially used for control, and online model identification is carried out on dynamic input data based on neural network algorithm model identification so as to correct model parameters; a modeling error is obtained and a feedback compensation control quantity is generated based on a neural network identifier compensation identifier, control parameters are optimized and then substituted into a neural network algorithm, so that the control effect is better, the control error is gradually reduced through iterative learning, and the optimal state is achieved.

The invention belongs to the technical field of metallurgical materials, and particularly relates to a steel casting and a preparation method and application thereof. The preparation method of the steel casting comprises the following steps that preparation raw materials of the steel casting are smelted, and a melt is obtained; the melt, a deoxidizing agent and a refining agent are mixed for deoxidizing refining and pouring, and a blank casting is obtained; and the blank casting is subjected to heat treatment, and the steel casting is obtained. By optimizing the chemical components of the steel casting, improving the purity of the molten steel through the deoxidizing agent and the refining agent and optimizing the heat treatment method and control parameters, the low-temperature impact toughness of the steel casting cast by the medium-frequency induction furnace can be obviously improved, and the use safety of bridge construction under the extremely cold weather condition can be met; and the production cost of the steel casting is reduced, and resource consumption and environmental pollution are reduced.

The application discloses an environmentally-friendly soft type yoga mat special silk-screen printing ink and a preparation method thereof, and belongs to the technical field of silk-screen printing inks. The ink comprises the following components in parts by weight: 30-50 parts of main body resin, 5-15 parts of environmentally-friendly pigment, 25-45 parts of environmentally-friendly composite solvent, 1-5 parts of adhesion promoter, 0.5-2 parts of rheological additive, 0.5-2 parts of scratch-resistant additive, and 2-8 parts of environmentally-friendly non-ortho phenyl plasticizer. The ink is extremely environmentally-friendly, meets international export standards, and is free of phthalate plasticizers, benzophenone solvents and heavy metal pigments in the whole process. Instead, the ink uses citric acid ester non-ortho phenyl plasticizers, benzene-free and ketone-free composite solvents and heavy metal-free organic pigments. The VOC content is far lower than the national limit value, the irritating odor is eliminated, and phthalate controlled substances are not detected. The ink meets the EU REACH regulation appendix XVII 51 / 52 and the EN71-3 toy safety standard, and completely solves the problem of limited export of traditional inks.

The present invention relates to the technical field of hydroelectric units, and is an ADPSS-based turbine isolated grid control parameter verification device and a method of use, including an ADPSS simulation platform simulating and outputting a grid frequency signal, and receiving a power signal output by a hydroelectric unit speed governor simulation platform for iterative calculation; the hydroelectric unit speed governor simulation platform combines the grid frequency signal simulation to determine the guide vane opening signal, and converts the guide vane opening signal into a power signal; a transmission device builds a communication link between the ADPSS simulation platform and the hydroelectric unit speed governor simulation platform. The present invention improves the simulation speed and authenticity of the hydroelectric unit speed governor in an isolated grid mode through the heterogeneous parallelization of an FPGA module, a physical interface box, and a turbine speed governor simulation platform, and solves the problem that when the current turbine isolated grid control parameter setting uses a frequency step disturbance, only a step amount of a given step length can be used, and there is no effective interaction between the turbine and the grid.

This invention provides a method for the artificial breeding of bullfrogs, including bullfrog selection, pairing, breeding, artificial spawning induction, artificial insemination, fertilized egg hatching, and tadpole rearing. This invention uses precise control of water temperature and quality in the breeding water to stimulate the gonadal development of the bullfrogs. It utilizes artificial spawning induction, insemination, fertilized egg hatching, and seedling rearing techniques to solve the problems of existing bullfrog germplasm degradation and difficulties in artificial breeding. By adding *Lactobacillus rhamnosus* to the feed, the mortality rate of bullfrogs is effectively reduced, the hatching rate of fertilized eggs is high, and the seedling growth rate is fast. This allows for a stable and continuous supply of high-quality bullfrog stock, meeting the effective demand for bullfrog seedlings throughout the year, and providing a technical foundation for the artificial breeding of bullfrogs.

The invention provides a Zr-Fe bimetallic atom catalyst, a preparation method thereof and application of the Zr-Fe bimetallic atom catalyst in a wide-temperature zinc air battery, and the preparation method comprises the following steps: placing an Fe-N-C catalyst and ZrCl4 powder in a heating zone of a tubular furnace in a non-contact manner, and reacting at 500-1200 DEG C to prepare a Zr / Fe-N-C catalyst, namely the Zr-Fe bimetallic atom catalyst. According to the preparation method, front transition metal zirconium (Zr) is introduced into an Fe-N-C catalyst through a non-contact chemical vapor deposition (CVD) method, a Zr and Fe co-doped carbon-based composite material is obtained, the Zr and Fe co-doped carbon-based composite material serves as a bimetallic atom catalyst, the spinning state of the Fe center can be effectively adjusted through introduction of Zr, meanwhile, the coordination environment of Fe-Nx is optimized, the binding energy of the Fe-Nx to a reaction intermediate is reduced, and the reaction efficiency of the Fe-N-C catalyst is improved. And the ORR activity and stability of the Fe-N-C catalyst are obviously improved.

The present application provides a method and device for optimizing the control parameters of a direct-drive wind turbine set, which relates to the field of power equipment maintenance, including: impedance modeling of the direct-drive wind turbine set according to the topological structure and control structure of the direct-drive wind turbine set, and analyzing the impedance characteristics; establishing a transient reactive voltage model of the set based on the dynamic response characteristics of the phase-locked loop, and analyzing the influence of each controller bandwidth and damping ratio parameter on the transient characteristics; optimizing the control parameters of the direct-drive wind turbine set according to the impedance characteristics and the transient characteristics. The present application can take into account both the impedance characteristics and the fault ride-through characteristics of the direct-drive wind turbine set, and optimize the control parameters of the direct-drive wind turbine set.

The application discloses a kind of micro-fruit and vegetable fresh-keeping film preparation device and method, the device includes forming cylinder assembly, feeding coating component, dust generation and settlement component, air cooling device and film winding collection component;Forming cylinder assembly includes rotatable self-heating forming cylinder, feeding coating component is used to coat film-forming liquid on the left upper surface of self-heating forming cylinder, dust generation and settlement component is used to settle nano antibacterial catalyst dust on the film surface on self-heating forming cylinder;Air cooling device is used to cold blow setting on the film surface of the right lower part of self-heating forming cylinder, and film winding collection component is used to winding collection of the film formed.The device of the application utilizes the time window period of film not completely solidified to load nano catalytic functional powder, so that the powder is firmly attached to the film surface layer, the contact area of catalytic powder and oxygen is increased, the catalytic efficiency is improved, and the migration risk of catalytic powder is reduced.

The present application relates to the field of drilling engineering, and particularly relates to a kind of automatic spraying device and operating method of drill pipe thread grease, including self-locking screw lifting platform, rotating platform assembly, support assembly, telescopic rod assembly, spraying head and thread grease conveying pipe;Spraying head includes outer thread spraying assembly, push-pull cylinder A, piston rod A, push-pull cylinder B, piston rod B, inner thread spraying assembly and shell;The self-locking screw lifting platform realizes the lifting of spraying head;The rotating platform assembly realizes the rotation of spraying head;The telescopic rod assembly realizes the centring of spraying head;The spraying head is sprayed with thread grease to drill pipe joint.The beneficial effects of the present application are: automatic spraying thread grease is realized, intelligent drill pipe conductor ring is prevented from being contaminated, operation efficiency is improved and different specifications of drill pipe joint can be adapted.

The invention provides a shot peening forming speed design method and device for a continuous variable-thickness variable-curvature skin. The method comprises the steps that the chordwise cross-sectional inertia moment, the spanwise cross-sectional inertia moment and the chordwise curvature radius of each micro-area are obtained; the target curvature radius of the target test area is calculated, and the chordwise reference shot blasting speed and the spanwise reference shot blasting speed are obtained; for each micro-area, determining a chordwise shot peening forming speed based on the spanwise cross-sectional inertia moment and chordwise curvature radius of the micro-area, the spanwise cross-sectional inertia moment and chordwise curvature radius of the target test area and a chordwise reference shot peening speed; based on the chordwise sectional inertia moment and the chordwise curvature radius of the micro-area, the chordwise sectional inertia moment and the chordwise curvature radius of the target test area and the spanwise reference shot peening speed, the spanwise shot peening forming speed is determined; finally, the shot peening forming speed of each micro-area is obtained; and through infinitely subdividing the micro-area, the precise speed of shot blasting on the variable-thickness and variable-curvature part is calculated, so that the theoretical curvature appearance of the skin is infinitely approached.

The invention discloses ultra-microporous synergistic powder for tank mixing of pesticides as well as a preparation method and application of the ultra-microporous synergistic powder, and belongs to the technical field of functional auxiliary agents of the pesticides. The powder takes a natural porous material as a raw material, is prepared through raw material pretreatment, inert atmosphere high-temperature calcination activation, superfine grinding and homogeneous compounding, and contains 85-98% of superfine porous powder, 1-10% of a dispersing agent and 1-5% of a wetting penetrant. The key of application is that the barrel mixing sequence of diluting the pesticide and then adding the powder is adopted, the adding amount is 1%-5% of the total weight of the pesticide liquid, the powder can efficiently adsorb effective components of the pesticide, and the light stability and the lasting period of the pesticide are remarkably improved through the ultraviolet shielding effect and the adsorption-desorption slow release effect of the ultra-micropore structure. The product and the using method are specially designed for terminal users, operation is easy and convenient, and efficiency is remarkable.

The present application belongs to the technical field of material environmental adaptability testing, and particularly relates to a multi-field coupling environment simulation test device, which comprises a test box body, the test box body is divided into upper and lower installation spaces by a first partition plate; a sand blasting erosion assembly for simulating a sand blasting erosion environment, a saline-alkali corrosion assembly for simulating a saline-alkali corrosion environment and an ultraviolet aging assembly for simulating a sunlight ultraviolet environment are integrated in the installation spaces; the sand blasting erosion assembly is composed of a sand blasting head, a sand bin mechanism and a sand blasting pump; the sand bin mechanism comprises a sand bin, and a power vane driven by waste sand gravity is arranged on a waste sand falling path in the sand bin. The present application can realize integrated testing of three major environmental factors, ensure that the testing environment is highly consistent with the actual natural environment, improve testing efficiency and data reliability, and reduce equipment purchase and operation and maintenance costs.

The present application discloses a lightning broadband magnetic field signal detection antenna system, including a magnetic antenna and an amplifying circuit connected to the magnetic antenna; the magnetic antenna includes two vertically cross-distributed magnetic rings, and the magnetic rings are cross-arranged with the center line of the plane as the axis. The present application utilizes the unique magnetic field change rate (dB / dt) measurement characteristics of the magnetic ring antenna itself to control the cutoff frequency of the high-frequency end in the frequency band, and through the amplifying circuit, the entire frequency band always maintains the dB / dt gain characteristics, so that the signal at the high-frequency end can obtain a gain of more than 20dB, effectively ensuring the measurement of high-frequency pulse signals, so that the low-frequency positioning system can obtain more high-frequency radiation source positioning information, further enriching the applicable scenarios of the low-frequency positioning system.

The invention relates to the technical field of industrial automation, in particular to a linear quadratic form control method for vibration recognition. According to the method, vibration data, controlled device data and corresponding linear quadratic form control parameter data are collected, the collected data are preprocessed, subsequent convolutional neural network training is facilitated, the reliability and accuracy of training are ensured, a corresponding virtual controlled model is constructed according to a controlled device, and the training efficiency is improved. Controlling the vibration of the virtual controlled model by adopting a linear quadratic form, training a convolutional neural network, optimizing control parameters, controlling a controlled device by taking the obtained optimized control parameters as parameters of linear quadratic form control, and finally updating the control parameters until the control parameters meet a set vibration threshold value; according to the method provided by the invention, optimal control under different vibration inputs can be realized by updating the control parameters, and the use vibration control requirements of the controlled device are met.

This invention discloses a self-supporting, high-efficiency OER Mo / Ru-Ni / NF electrocatalyst and its preparation method, belonging to the field of electrocatalytic materials technology. Addressing the problems of insufficient exposure of active sites, poor conductivity, and high interfacial resistance due to the need for binders in existing catalysts, this invention uses nickel foam as a substrate and employs a two-step electrodeposition method combined with a calcination process to prepare a composite catalyst with a cauliflower-like porous structure. This material optimizes the electronic structure and oxygen intermediate adsorption energy by introducing strongly electron-deficient Mo centers to modify the Ru-Ni heterojunction interface; the unique self-supporting porous structure increases the active area, promoting mass transfer and electron transport. This catalyst requires no binder, exhibits low overpotential, a small Tafel slope, and excellent long-term stability, significantly improving the catalytic performance of the oxygen evolution reaction (OER) and making it suitable for high-efficiency water electrolysis for hydrogen production.

The application relates to a PID parameter optimization method for reducing motion control position deviation uncertainty, which comprises the following steps: firstly, determining the PID parameter optimization form and constraint conditions, and constructing an optimization objective function for the motion control position deviation uncertainty; secondly, establishing a Gaussian process regression proxy model between the PID parameters and the optimization objective function; thirdly, determining a next group of control parameters according to an expected enhancement acquisition function and measuring the corresponding optimization objective function value; finally, optimizing the PID parameters by using a double loop, wherein the inner loop uses randomly set initial control parameters to iteratively execute and obtain inner loop optimization control parameters, the outer loop is used for starting the inner loop optimization process multiple times, and finally, the final tuning parameter value is calculated by using non-convex scenario optimization; the selection of the optimization objective function of the application considers the average position deviation and the position deviation uncertainty, the optimization method adopts a double loop Bayesian optimization mode, and the method has the advantages of not being prone to local optimization and good consistency of optimization results under the action of uncertainty disturbance.

This invention discloses a coal gangue grouting and filling material with high rheological resistance and resistant to bleeding, its preparation method, and its application, relating to the field of mine filling material technology. The grouting and filling material, by mass percentage, comprises: 70%~75% coal gangue, 0.55%~2.3% composite rheology modifier, and the balance being water; wherein the composite rheology modifier includes an air-entraining agent and a dispersant, with a mass ratio of (90~99):(1~10); the air-entraining agent is a surface-active foaming material, and the dispersant is a phosphate additive. In its preparation, coal gangue is first mixed with water and stirred to obtain an initial slurry; then the air-entraining agent and dispersant are mixed to prepare the composite rheology modifier; finally, the composite rheology modifier is added to the initial slurry and stirred until homogeneous to obtain the grouting and filling material. This grouting and filling material uses coal gangue as the main raw material, has a simple preparation process, and possesses excellent fluidity, stability, and pumpability.