130results about How to "Realize collaborative control" patented technology

The invention relates to the technical field of illumination night scene control, in particular to an urban travel illumination night scene interconnection control method and system based on a photovoltaic technology. The method comprises the following steps: acquiring scenic spot people flow monitoring parameters and photovoltaic illumination night scene equipment state data; carrying out spatial position positioning calculation on all the photovoltaic illumination night scene equipment, and carrying out spatial distribution analysis to obtain a plurality of equipment area distribution diagrams; carrying out regional electricity load calculation on the plurality of equipment region distribution diagrams based on the state data of the photovoltaic illumination night scene equipment, and carrying out electricity load demand prediction so as to generate electricity load demand prediction data of each region; and carrying out people flow distribution calculation on the scenic area people flow monitoring parameters based on the plurality of equipment area distribution diagrams, and carrying out short-term people flow situation prediction to generate people flow situation prediction data of different areas. According to the invention, illumination night scene control with efficient response and low energy consumption is realized.

The invention relates to a cooperative control system and method based on heterogeneous unmanned aerial vehicles. The control system comprises a ground station control system and a mobile terminal control system. The ground station control system is a desktop application supporting task issuing to a plurality of mobile terminals; the mobile terminal is an Android application and can directly control the flight of the single unmanned aerial vehicle through the unmanned aerial vehicle controller; the method comprises the following steps: establishing a relation among the ground station, the mobile terminal and the heterogeneous unmanned aerial vehicle to carry out image return. The heterogeneous unmanned aerial vehicle cooperative control system and method relate to technologies and systems in multiple aspects such as task analysis, communication protocols, data fusion, state monitoring and autonomous cooperation, effective cooperation among heterogeneous unmanned aerial vehicles is achieved through system design and application, and the application potential of the unmanned aerial vehicles in the military and civil fields is expanded.

The invention relates to the technical field of light spot control, and discloses a light spot control method, device and equipment for a focus-adjustable LED light source, and the method comprises the steps: carrying out the parameter collection and optical modeling of the LED light source, and obtaining an LED light source mathematical model; performing light spot feature extraction and multi-wavelength coupling signal separation to obtain a high-energy dominant wavelength component and a low-energy sub-wavelength component; performing spectral decomposition parameter optimization to obtain spectral control parameters; performing attenuation compensation calculation to obtain an optical path compensation coefficient and a focal length adjustment parameter; performing dynamic balance adjustment according to the optical path compensation coefficient and the focal length adjustment parameter, calculating a light spot quality evaluation index and a light intensity ratio, and generating a wavelength balance control parameter; the wavelength balance control parameters are input into the LED drive control system, and the LED light source drive control quantity is output through multi-loop closed-loop control and real-time parameter calculation, so that the accuracy of focal length adjustment is improved, and the stability of the light spot form is ensured.

The invention relates to the technical field of SoC main control chips, and discloses a deep sleep wake-up control method and system for a multimode SoC main control chip. The method comprises the following steps: acquiring voltage and current data and temperature distribution data of each functional module of a multi-mode SoC main control chip under different environments and operation conditions EOC to obtain a chip monitoring data set; constructing a functional module topological graph and mapping the functional module topological graph into potential features to obtain deep sleep state criteria of each functional module; establishing a hierarchical Bayesian model, and identifying the state transition probability and EOC influence factors of each functional module to obtain a combination scheme of the deep sleep functional modules; determining a collaborative sleep control sequence; a hierarchical Bayesian model is input, a wake-up voltage and a clock sequence are generated, power consumption response of each function module is monitored in real time through a dynamic graph neural network, a safe wake-up control result is output, mutual interference among the function modules is reduced, and the overall power consumption management efficiency of a chip is improved.

The invention relates to the technical field of electric vehicle charging and discharging regulation and control, in particular to a large-scale electric vehicle charging and discharging rate multi-level optimization regulation and control method. Establishing a daily driving mileage prediction model by analyzing historical driving and charging data of the electric vehicle, and calculating a charging demand of the daily driving mileage according to the daily driving mileage prediction model; designing an optimization model based on linear programming based on the determined charging demand, and obtaining reasonable charging power of each electric vehicle in different time periods; on the basis of the determined charging demand, constructing a multi-level optimization model; under the guidance of the constructed multi-objective optimization model, a specific charging and discharging strategy of each electric vehicle is refined by adopting a heuristic algorithm; the charging power is dynamically adjusted by combining real-time data of the electric vehicle and the power grid; and based on the dynamic adjustment result, the charging power of different levels is coordinated, and multi-level cooperative control is realized. According to the large-scale electric vehicle charging and discharging rate multi-level optimization regulation and control method, efficient and stable operation of a charging system is achieved.

The invention relates to an intelligent control method and system for pressurization and flow stabilization of a sealing-tape machine pipeline. The intelligent control method comprises the following steps that S1, a target pipeline pressure value Pset and a target flow value Qset are determined; the real-time pressure Preal is collected through a pressure sensor, the real-time flow Qreal is collected through a flow sensor, and a pressure error ep and a flow error eq are calculated; s2, double-closed-loop control is adopted, and compensation is conducted according to the flow error; by means of a master-slave control mode, pressure adjustment and flow adjustment are coordinated with each other; s3, feedforward compensation and MPC are introduced, optimization adjustment is carried out in combination with the process dynamic model, and the optimized pump speed and valve control value are obtained; s4, on the basis of the optimized pump speed and valve control value, optimal control is conducted on the sealing-tape machine pipeline; and S5, carrying out abnormal state alarm. Cooperative control over the pump speed and the valve of the sealing-tape machine is achieved, and reliable operation is ensured in combination with abnormal state protection.

According to the industrial park anti-countercurrent control method and system fused with the source storage adjustable margin, when a countercurrent risk exists, based on a flexible control target, layered adjustment values of distributed power supply output under an early warning level and an action level are determined; determining a hierarchical adjustment value of the energy storage power under the security level; under the safety level, if the countercurrent urgency index is not larger than 0, energy storage stops discharging, and if the countercurrent urgency index is within the energy storage power adjustable margin range, energy storage charging is controlled based on a layered adjustment value of the energy storage power adjustable margin range; under the early warning level, if the countercurrent urgency index is within the adjustable margin range of the output of the distributed power supply, the energy storage charging power is controlled to be maximum, and the output of the distributed power supply is controlled based on the hierarchical adjustment value of the output of the distributed power supply; under the action level, if the countercurrent urgency index is not within the adjustable margin range of the distributed power supply output and the energy storage power, executing the generator tripping operation of the distributed power supply; and the utilization efficiency and the economic benefit of distributed energy sources are maximized while the power of the park is ensured not to flow back.

The invention discloses an automatic driving vehicle formation control method and system based on working condition identification, and relates to the technical field of automatic driving. Deploying a sensor; the leading vehicle is used for sensing the surrounding environment; judging the driving condition of the current motorcade; obtaining a relative position relationship between adjacent vehicles in the motorcade; setting a time headway to obtain an expected distance between adjacent vehicles; arbitrating the expected distance; calculating a distance error between adjacent vehicles; whether the speed of the rear vehicle needs to be adjusted is judged, and if yes, the speed of the rear vehicle is adjusted; and if not, continuously driving according to the current vehicle speed. Complete automatic driving modification is carried out on a small part of vehicles in a motorcade, the current environment is perceived through the leading vehicle, the perceived information is issued to all following vehicles in the motorcade in a broadcast mode, the following vehicles in the motorcade are assisted to carry out planning control, and a motorcade control task can be completed.

The present invention relates to the field of drone control technology, and specifically to a drone swarm collaborative control system and method in a complex environment based on image recognition. The system preprocesses collected real-time environment image data of the drone swarm to generate real-time environment image feature data of the drone swarm, builds real-time environment three-dimensional model data of the drone swarm based on the real-time environment image feature data, and matches the data with the collected preset flight route data of the drone swarm. According to the matching result, preset flight route adjustment data of the drone swarm is generated. If the preset flight route adjustment data of the drone swarm needs to be adjusted, the flight route of the drone swarm is planned by using a constructed drone swarm flight route planning model to generate drone swarm flight route planning data. Finally, drone swarm collaborative control data is built, and drone swarm flight route adjustment operations are performed to achieve collaborative control of the drone swarm and scientific adjustment of the flight route.

The utility model discloses an automatic cut-part laminating device which comprises a working platform, the feeding mechanism comprises a first grabbing piece, a first conveying belt and a second conveying belt, and the first conveying belt conveys a first cutting piece and a second cutting piece to a cutting piece feeding position; the second conveying belt receives and conveys the second cutting piece to the first visual identification area; the gluing mechanism comprises a feeding assembly, a gluing assembly and a third conveying belt, the feeding assembly receives and conveys the first cutting piece to the gluing assembly for gluing treatment, and the third conveying belt receives and conveys the glued first cutting piece to a second visual recognition area; the vision mechanism identifies the first cutting piece and the second cutting piece; the attaching mechanism comprises a second grabbing piece and a material collecting frame, and the second grabbing piece grabs the second cutting piece to be attached to the first cutting piece and places the second cutting piece and the first cutting piece into the material collecting frame. The utility model provides an automatic cutting piece laminating device, which is adopted to realize the automation of a laminating and reinforcing process and improve the production efficiency.

The application provides a kind of bionic artificial stomach device based on electrostatic hydraulic drive and its application, belong to bionic medical instrument technical field.The device includes flexible bionic stomach cavity, composite peristaltic wave drive module including multiple electrostatic hydraulic drive units and programmable control module.Programmable control module applies high voltage electric signal to each electrostatic hydraulic drive unit according to preset timing, drive flexible bionic stomach cavity outer wall to produce continuous, distributed surface contraction deformation, to form annular advancing peristaltic wave propagating from fundus to antrum.The application realizes continuous surface driving of flexible interface through electrostatic hydraulic effect, solves the problem of unreasonable contact mode, discontinuous peristalsis and mechanical distortion in the prior art, improves the physiological relevance of in-vitro simulation of gastric mechanics, digestion process and drug transport.

The application provides a kind of collaborative congestion control method based on attention-driven multi-path TCP sub-flow dependency modeling, MPTCP connection is established by sending end and receiving end;Subflow running data is read from MPTCP protocol stack by state monitoring module;Each subflow feature of the normalized state matrix input is weighted and fused by using self-attention layer;Action vector A is generated by Actor network t , and the effective congestion window of each subflow is used as the available sending window constraint when sending data;Action value Q is generated by Critic network;Reward R is calculated by reward calculation module t ;Form collaborative congestion control model;Realize online adaptive control;This method can realize unified decision and collaborative control of multiple subflows, can realize collaborative consistency of congestion control effect and scheduling result, and can improve the stability and comprehensive performance of multi-path transmission.

The invention discloses granary pressure control equipment and method, and the equipment comprises an evaporation cavity which is internally provided with an evaporator and an evaporation fan; the air supply pipe assembly and the air return pipe assembly are used for communicating the evaporation cavity with the granary; the air valves are arranged in the air supply pipe assembly and the air return pipe assembly respectively; the control center is electrically connected with the pressure sensor, the temperature sensor, the CO concentration sensor and the air valves; wherein the control center is used for judging the cause of unbalanced pressure in the granary according to the detection results of the pressure, the temperature and the COconcentration in the granary and correspondingly controlling the opening or closing state of each air valve so as to adjust the pressure in the granary. According to the invention, by carrying out structure transformation and control logic upgrading on the existing granary air conditioning equipment, the granary pressure regulation, the COconcentration regulation and the air conditioning refrigeration function are integrated in the same equipment, so that the cooperative control of the granary environment is realized.

Embodiments of the present application provide a vehicle control method, device, vehicle, medium and product. The method comprises: when it is detected that the vehicle is wading, determining a state of the vehicle. If the state is a floating water state, determining a first rotating speed of a propeller and a second rotating speed of a wheel-side motor based on driver intention data, an ability state of the propeller and an ability state of the wheel-side motor, controlling the propeller according to the first rotating speed, and controlling the wheel-side motor according to the second rotating speed. If the state is a water entry state or a water exit state, performing torque distribution for front and rear axles of the vehicle to obtain front axle demand torque and rear axle demand torque, and controlling the vehicle according to the front axle demand torque and the rear axle demand torque. The method is used to improve the technical effect of power utilization rate of the vehicle.

The utility model discloses a constant-temperature air outlet dehumidification heat pump system which comprises a compressor, a condenser and an evaporator which are connected to form a refrigerant circulation loop and further comprises a first flow distribution adjusting device, a heat using device and a control device. The heat utilization device and the condenser are arranged between the compressor and the evaporator in parallel; the inlet end of the first flow distribution adjusting device is connected with the outlet end of the compressor through a pipeline, the first outlet end of the first flow distribution adjusting device is connected with the condenser through a pipeline, and the second outlet end of the first flow distribution adjusting device is connected to the heat using device through a pipeline. The control device is connected with the first flow distributing and adjusting device and controls the opening degree of the first flow distributing and adjusting device according to the return air temperature so as to control the amount of refrigerants entering the condenser and the heat using device. According to the constant-temperature air outlet dehumidification heat pump system, high-precision temperature and humidity cooperative control is achieved, temperature fluctuation is reduced, meanwhile, the energy efficiency ratio and the system stability are improved, the high-end scene requirement is met, and the stability under the complex working condition is improved.

The present application relates to the technical field of metal material heat treatment, in particular to a heat treatment furnace device and method capable of controlling temperature and cooling speed, wherein the furnace body is internally constituted as a hearth, the output end of the air supply system is located at the lower region of the hearth through the furnace body; the flow equalizing system is arranged at the lower region of the hearth and is in communication with the output end of the air supply system; the workpiece is placed on the flow equalizing system; the circulation and exhaust system is arranged at the upper region of the hearth and is in communication with the interior of the hearth, the temperature monitoring system is arranged on the circulation and exhaust system and is directly above the workpiece; the control system is electrically connected with the air supply system, the circulation and exhaust system and the temperature monitoring system. The present application effectively solves the problems of insufficient cooling speed and poor cooling uniformity in the prior art.

The invention discloses a carbon-based catalyst, a PTFE catalytic filter material and a preparation method and application thereof, the preparation of the photocatalyst comprises the steps of carbon-based carrier preparation, active component loading and carbon quantum dot (CQDs) optimization, and the prepared CQDs-MnCe / C catalyst uses the carbon quantum dots to optimize a catalyst electron transport channel, so that the photocatalytic performance of the catalyst is improved. Surface acidic sites and active sites are regulated and controlled by utilizing the intermetallic interaction of Mn and Ce and the carbon quantum dots, so that the low-temperature catalytic performance is effectively improved; the CQDs-MnCe / C catalyst is combined with a PTFE rolled film by using a binder, and then the PTFE catalytic filter material in which the catalyst is firmly combined with the filter material on the surface of the filter material is formed through the steps of stretching, slitting, curling, needling and the like, the binder is used for enhancing the bonding strength of the catalyst and filter cloth, the loss of the catalyst in the use process is relieved, the problem that the catalyst is wrapped is solved, and the service life of the filter material is prolonged. The low-temperature catalytic performance of the catalytic filter material is improved.

This application provides a method and apparatus for determining the air supply strategy of a thermal management combined power unit, belonging to the field of aviation electromechanical technology. The method provided includes: acquiring the operating state parameters of the thermal management combined power unit; inputting the operating state parameters into a pre-trained prediction model to determine the air supply control parameters; training the prediction model using training samples, wherein the training process of the prediction model is based on exhaust temperature constraints, compressor surge margin constraints, fuel temperature constraints, and air supply flow constraints to construct a target loss function; controlling the distribution of cooling airflow in the cabin air supply circuit according to the cooling turbine outlet split ratio, controlling the distribution of fuel in each fuel branch according to the first fuel branch split ratio, the second fuel branch split ratio, and the third fuel branch split ratio, and controlling the air supply temperature entering the cabin according to the cabin air supply temperature. The method and apparatus provided in this application can solve the air supply control problem under multiple constraint coupling.

The embodiment of the invention discloses a warehouse elevator scheduling method, computer equipment and a computer readable storage medium. The warehouse elevator scheduling method comprises the following steps: constructing a scheduling algorithm to process received task information so as to determine a reservable object; determining a reservation mode according to the task information, and obtaining a reservation form; processing the reservation form according to the reservation mode so as to determine a target object from the reservable objects; and generating and outputting a scheduling queue based on the target object. Therefore, the reservable object can be determined firstly through the scheduling algorithm, so that the workload of the multiple elevators in the warehouse is balanced, the load balance of the elevators is optimized, local congestion and resource idleness are avoided, and the overall scheduling efficiency is improved. The real-time state and resource occupation condition of each connection point can be dynamically reflected by using the reservation form, channel resources are reserved in advance in combination with a pre-locking mechanism, dynamic reservation scheduling and path cooperative control of the elevator are realized, and the response speed and stability of the system are remarkably improved.

This invention discloses a compact prefabricated metal enclosed ring main unit, relating to the field of ring main unit technology. It solves the problems of existing technologies, such as difficulty in balancing heat dissipation and protection, inconvenient disassembly and maintenance, and high maintenance costs. The invention includes an outer protective cover; a ring main unit housed within the outer protective cover; an electric lifting cylinder fixedly mounted on the top surface of the outer protective cover, with its piston rod connected to the top surface of the ring main unit for driving the ring main unit to extend or retract into the outer protective cover; and a heat dissipation device comprising a curved heat dissipation pipe fixed within the outer protective cover and movably embedded in the bottom surface of the outer protective cover. Through the coordinated design of the lifting structure and the heat dissipation device, this invention achieves automatic heat dissipation during operation and protection during non-operational states. It features a compact structure, high heat dissipation efficiency, and good protective performance, making it suitable for compact outdoor power distribution scenarios.

This application discloses a control method, equipment, and storage medium for a two-plate die-casting machine, including: setting a target speed and target pressure for the hammer's follow-out motion; after the injection action is completed, driving the hammer with the target speed and target pressure, while simultaneously limiting the return oil flow of the mold-opening cylinder, so that the hammer pushes the mold plate to perform a mold-opening action; during the process of the hammer pushing the mold plate, controlling the return oil pressure of the mold-opening cylinder by adjusting the opening degree of the pressure relief valve; when the mold plate is detected to have moved to a preset follow-out position, stopping the follow-out driving of the hammer, and completing the subsequent mold-opening action at a preset mold-opening speed until the mold opening is completed. This application achieves the technical effect of improving production safety and stability by simultaneously setting and controlling the target pressure and speed of the hammer's follow-out motion, so that the mold-opening speed is controlled by the hammer's push during the follow-out stage.

The invention relates to the technical field of intelligent logistics, in particular to an integrated scheduling system of an automatic guided vehicle, and the integrated scheduling system is connected with an upper business system and comprises a protocol adaptation unit, an information summarization unit, a capability matrix construction unit, a task analysis unit and a scheduling unit. The protocol adaptation unit is used for carrying out unified access on each automatic guided vehicle to realize two-way communication with each automatic guided vehicle; the information gathering unit is used for continuously collecting capability parameters and real-time operation state information of each automatic guided vehicle and storing the capability parameters and the real-time operation state information to a unified information data pool; the capability matrix construction unit is used for constructing a capability matrix table of each automatic guided vehicle based on the information data pool; the task analysis unit is used for receiving a logistics task issued by an upper-layer business system and disassembling the logistics task into a plurality of sub-tasks; and the scheduling unit is used for selecting the automated guided vehicle based on the capability matrix table and the subtasks, planning a task execution path in combination with factory map information, and issuing a control instruction to complete the corresponding subtasks.

The embodiment of the present application provides a solid buoyancy material and a preparation method and application thereof. The solid buoyancy material comprises an epoxy resin matrix and light fillers dispersed in the epoxy resin matrix; the light fillers comprise hollow glass microbeads A, hollow glass microbeads B and elastic organic expanded beads, and the particle size of the hollow glass microbeads A is greater than that of the hollow glass microbeads B. The solid buoyancy material has excellent waterproof property while having a relatively low density.

The invention discloses a curved surface self-adaptive grinding and polishing method based on a two-degree-of-freedom force control grinding and polishing robot. The method comprises the steps that a surface image of a workpiece to be machined is acquired, and local curvature information is extracted; calculating a feed-forward compensation amount according to the local curvature information, and correcting a preset expected position and a preset expected speed based on the feed-forward compensation amount to obtain a corrected expected position and a corrected expected speed; on the basis of the position deviation between the corrected expected position and the actual position and the speed deviation between the corrected expected speed and the actual speed, inertial parameters and damping parameters of a position-based impedance model are adjusted in real time through a fuzzy adaptive algorithm; and generating a control instruction according to the adjusted impedance model, and driving the two-degree-of-freedom linear motion module to perform compensation motion. According to the method, through cooperation of curvature feedforward compensation and fuzzy variable impedance control, force control lag at the curvature sudden change position is reduced, and force control stability and machining consistency of complex curved surface grinding and polishing are improved.

This invention discloses an integrated liquid diet supply and digestion monitoring system for gastrointestinal care. The system includes a core control module, a liquid diet supply module, a digestive status monitoring module, a multi-scenario adaptation module, a multi-device collaboration module, and a data management module. By constructing a three-tiered closed-loop system of "early warning-intervention-emergency care" to prevent aspiration, it achieves non-invasive automatic monitoring of gastric residual volume, personalized customization and infusion linkage of liquid diet formulas, linkage between intermittent infusion and oral care, and full-process traceability analysis of abnormal events. It is portable and can interconnect with multiple devices such as smart beds, monitors, and hospital HIS / LIS systems to form a smart medical ecosystem. This invention achieves the integration and intelligentization of liquid diet supply, digestion monitoring, and gastrointestinal care, covering four major scenarios: hospitals, rehabilitation centers, nursing homes, and homes. It significantly improves diagnostic and treatment efficiency and patient comfort, meeting both clinical needs and quality control research requirements.

A fused quartz laser polishing method coupled with a temperature feedback control system comprises the following steps that firstly, a thermal imaging instrument is used for conducting real-time temperature measurement on a laser polishing area of fused quartz; then, a real-time temperature signal measured by the thermal imaging instrument is transmitted to the PID controller; and then the PID controller is used for dynamically regulating and controlling the output power of the laser according to the input real-time temperature signal. Through the closed-loop control, the temperature of the laser processing area of the fused quartz is slightly lower than the evaporation temperature of the fused quartz stably, and the dynamic precise adjustment of the laser power is realized. According to the control strategy, uncontrollable evaporation and condensation caused by local overheating or alternate cooling and heating of the fused quartz are prevented, and more importantly, the phenomenon of uneven surface tension change caused by severe temperature fluctuation is eliminated to a great extent, so that the formation of scanning ripples on the surface of the fused quartz is remarkably reduced, and the polishing quality and the process stability are improved.

The invention discloses a multi-unmanned aerial vehicle cooperative control method based on a floating algorithm, and belongs to the technical field of substations. The multi-unmanned aerial vehicle cooperative control method based on the floating algorithm comprises the following steps: acquiring a target to-be-detected area corresponding to a target unmanned aerial vehicle in a plurality of unmanned aerial vehicles in a plurality of to-be-detected areas, and a target path between the target unmanned aerial vehicle and the target to-be-detected area; in the process of controlling the target unmanned aerial vehicle to move along the target path, acquiring at least one of position information and speed information of each unmanned aerial vehicle; obtaining at least one of new position information and new speed information corresponding to the target unmanned aerial vehicle based on at least one of the position relationship and the speed relationship between the target unmanned aerial vehicle and the other unmanned aerial vehicles; and based on at least one of the new position information and the new speed information corresponding to the target unmanned aerial vehicle, controlling the target unmanned aerial vehicle to move to the target to-be-detected area so as to detect the plurality of to-be-detected electrical devices in the target to-be-detected area.

The invention discloses a fault-tolerant game control method for quad-rotor helicopter cluster formation, and the method comprises the steps: designing a quad-rotor helicopter cluster formation mode, constructing an information interaction topological graph of a helicopter cluster, and building a fault model of a rotation subsystem and a translation subsystem; designing a self-adaptive fault diagnosis observer, and estimating an actuator fault; the translation subsystem is used as a leader, the rotation subsystem is used as a follower, and an inner and outer ring fault-tolerant game framework based on the incentive Steinberg differential graph game is constructed; fault-tolerant game controllers of the rotation subsystem and the translation subsystem are respectively designed through an all-drive system theory, and a linear closed-loop system of the four-rotor helicopter is constructed; and designing performance indexes of the rotation subsystem and the translation subsystem, and designing an optimal fault-tolerant game control strategy based on a differential game theory. According to the invention, stable formation control of the four-rotor helicopter cluster can be realized, the fault-tolerant capability of the helicopter cluster is effectively improved, and the stability and intelligence of the helicopter cluster system are enhanced.

The utility model discloses a reversing valve leak protection fixed bolster of chromatographic column box positive and negative flushing system, including support main part, reversing valve positioning mechanism, leak protection monitoring unit, linkage adjusting unit and integrated control circuit. The support main part is installed in the chromatographic column box through the sliding guide rail, and the top is equipped with the embedded groove and the high temperature resistant sealing rubber ring, the positioning mechanism contains adjustable clamping arm and three layer compound arc gasket, leak protection monitoring unit integrates multiple sensors and multiple way signal switching circuit, linkage adjusting unit contains servo push rod and PID adjusting algorithm, and integrated control circuit communicates with the column box temperature control host computer through CAN bus, still is equipped with alarm circuit. Its solution existing support adaptation difference, leakage monitoring lag, linkage poor etc. problem, realize multidimensional leak protection monitoring, clamping force self -adaptation adjustment and with column box collaborative control, promote the fixed sealing property and stability of reversing valve, guarantee chromatographic column positive and negative flushing function reliable implementation.

The invention discloses an antimony-gold concentrate flotation antimony removal process, belongs to the technical field of ore flotation, and aims to solve the technical problem that the gold enrichment performance and antimony removal performance of antimony-gold concentrate flotation need to be further improved in the prior art. According to the method, a step-by-step interface regulation and control system composed of an arsenic directional collecting agent, an antimony selective collecting agent and a lead chelating dispersing agent is constructed, and interface substrate reforming, target phase interface recognition strengthening and terminal interface convergence are sequentially achieved in ore pulp, so that a flotation layering environment with gradient selectivity is formed; according to the technical scheme, the interface stability of associated impurities such as arsenic, antimony and lead can be weakened step by step while interface activation of gold particles is kept, and efficient purification of refractory gold concentrate is achieved.