32results about How to "Reduce oscillation" patented technology

The application discloses a vehicle control method and device on a transverse slope road, equipment and medium, relates to the field of advanced driving assistance, and comprises the following steps: acquiring the vehicle speed, yaw angular velocity and first lateral acceleration of a vehicle, determining the second lateral acceleration based on the vehicle speed and yaw angular velocity; high-order filtering the first lateral acceleration and the second lateral acceleration respectively; determining the target acceleration based on the filtered first lateral acceleration and the filtered second lateral acceleration, and high-order filtering the target acceleration; determining the transverse slope compensation torque through the filtered target acceleration and a torque compensation coefficient, so as to control the vehicle. The vehicle speed, yaw angular velocity and first lateral acceleration and other information in the application are information that can be acquired in a low-cost manner, therefore, the application reduces the calculation cost of the transverse slope compensation torque, and through high-order filtering of the lateral acceleration and the target acceleration, the application improves the smoothness of the vehicle in a curve and reduces oscillation.

The application provides a cooling tower constant pressure PID adaptive control method and system based on process monitoring, and relates to the technical field of PID control.The method comprises the following steps: decoupling a working condition characteristic index group and a deviation feedback index group; constructing an operating condition vector and matching an initial operating scene group; calling a historical state transition chain, performing scene membership probability correction based on scene state transition prediction, and outputting a real-time operating scene; performing disturbance-free smooth coarse adjustment of the cooling tower constant pressure control; executing fine-grained PID fine adjustment of the cooling tower constant pressure; and performing scene switching analysis under incremental monitoring until the operating scene is changed, triggering fine-grained PID fine adjustment under disturbance-free smooth coarse adjustment. The application solves the technical problem that the prior art usually performs control parameter setting based on single or low-dimensional characteristics, cannot accurately identify the current operating condition category, and thus leads to PID parameter update lag and difficulty in timely matching the actual system dynamic characteristics when the operating condition rapidly changes.

This invention discloses a method and system for detecting and correcting mismatches in time slices and processor frequencies between task groups, relating to the field of automatic control and regulation of computer system resources, specifically a collaborative closed-loop correction method for operating system scheduling and processor frequency control. The method identifies a target task group and a control task group, statistically analyzes the average effective time slices and average effective frequencies of the two task groups within an observation window, constructs time slice differences and frequency differences, and calculates a mismatch index based on the service quality deviation of the target task group to determine the mismatch mode. Correction actions are generated for different modes, performing time slice parameter compensation on the target task group and / or applying frequency constraint compensation to its running processor. Stability is ensured through upper bounds on amplitude, trigger frequency limits, hysteresis / cooling, and abnormal backoff, thereby reducing long-tail latency, frame drop risk, and unnecessary power consumption under mixed loads.

The application discloses a high-precision oscilloscope probe delay correction platform, and relates to the field of power electronic device testing. In the oscilloscope probe delay correction platform, a high-speed pulse generation module is used to output a control signal, and a driving module is used to amplify the control signal to generate a corresponding driving signal to drive a transistor, so that a voltage pulse signal is generated on a power resistor in series with the main current path of the transistor and is output through a parallel voltage probe interface, and a current pulse signal is generated and is output through a series current probe interface. The platform can realize delay correction of a high-voltage and high-current probe range, is favorable for reducing the minimum distinguishable time lag, improving the delay correction precision, reducing the oscillation in the rising and falling processes, and can also be used for delay correction of a high-voltage and high-current probe range in addition to a low-voltage and low-current probe, so that more extensive range adaptation is realized.

The invention belongs to the technical field of nanometer measurement and control, provides a multi-mode cooperative force control method for contact mode scanning of an atomic force microscope, and aims to extract contact state information in real time by carrying out drift and aberration compensation on a measurement signal so as to realize multi-mode cooperative force control. Combined self-adaptive setting of control parameters is carried out in combination with sample morphology characteristics and error signal statistical characteristics, and undisturbed switching between a steady state controller and a transient state controller is realized, so that stable, rapid and low-noise force tracking control is realized in samples with different rigidities and changing noise environments. And the stability and the imaging quality of AFM contact mode scanning are obviously improved. According to the invention, adaptive force control on samples with different rigidities and complex shapes is realized, and the scanning stability and imaging quality of the contact mode atomic force microscope are remarkably improved.

The present application relates to the technical field of intelligent control of industrial robots, in particular to a constant force polishing dynamic parameter self-tuning method. The method comprises the following steps: 1) when the robot moves along a predetermined trajectory, real-time acquisition of multi-modal sensing data and extraction of data features; 2) taking the extracted multi-modal feature vector as input, predicting the bottom robot force controller parameters through a pre-trained deep learning model; 3) the robot force controller uses the new parameters and contact force feedback signals, generates joint torque instructions through impedance control algorithm, and drives the industrial robot to perform polishing work. Through visual foresight, the system can predict the working condition change in advance and adjust the parameters in advance, greatly reducing the force overshoot and oscillation, and realizing smooth transition.

The application discloses a GNSS / INS robust factor graph optimization method, system, device and medium, and belongs to the technical field of integrated navigation positioning. The method comprises the following steps: acquiring an IMU measurement sequence and a GNSS position observation sequence, and constructing a GNSS / INS factor graph model in a sliding window; in the current window, first-stage robust optimization is performed by using fixed GNSS covariance and a Huber robust kernel function, intermediate state estimation is obtained, normalized residual energy of GNSS position residuals in the north, east and sky directions is calculated, a direction-level quality state machine and state-aware smoothing confidence are updated; a direction-level standard deviation scaling factor is generated according to the state-aware smoothing confidence, and a direction-level GNSS adaptive covariance is reconstructed; the GNSS position factor weight model is replaced in the same window, second-stage adaptive re-optimization is performed, and final state estimation is output. The application can dynamically adjust the observation weights in each direction, suppress abnormal influences and retain reliable information, and improve the positioning accuracy and robustness of integrated navigation in a complex environment.

This invention relates to an energy-saving and efficient combustion control method and system for industrial furnaces, belonging to the field of industrial furnace automatic control technology. The method includes: acquiring the industrial furnace zone number; obtaining the corresponding target temperature and current temperature based on the industrial furnace zone number; calculating the temperature difference based on the target temperature and current temperature; when the temperature difference is less than a preset temperature difference threshold, finding the corresponding PID parameter based on the industrial furnace zone number; calculating a first required fuel amount based on the temperature difference and the PID parameter; controlling the zone corresponding to the industrial furnace zone number to add fuel according to the first required fuel amount; when the temperature difference is greater than the preset temperature difference threshold, finding a proportionality coefficient based on the industrial furnace zone number; calculating a second required fuel amount based on the temperature difference and the proportionality coefficient; and controlling the zone corresponding to the industrial furnace zone number to add fuel according to the second required fuel amount. This invention effectively reduces energy waste in industrial furnaces.

The invention discloses a photovoltaic MPPT (Maximum Power Point Tracking) control algorithm, which relates to the technical field of photovoltaic control algorithms, utilizes the characteristics of simple structure, high convergence speed, high global optimization capability, wide applicability and the like of a gradient optimization algorithm, and improves the defects of premature convergence and sensitivity to control parameters of the gradient optimization algorithm. Meanwhile, the photovoltaic output energy efficiency and the stability of the photovoltaic output energy efficiency serve as the evaluation basis, an MPPT algorithm performance evaluation model is constructed through an analytic hierarchy process, photovoltaic MPPT performance is evaluated, and GTO performance is verified and improved.

The application relates to an automatic ink adding device of an external ink cabinet, and belongs to the technical field of ink cartridges. The automatic ink adding device comprises an external ink cabinet, an ink barrel, a liquid level sensor arranged on the outer wall of the ink barrel and used for monitoring the liquid level in the ink barrel and an electric control system. The electric control system controls the ink in the external ink cabinet to enter the ink barrel. The liquid level sensor is in communication connection with the electric control system. A driving part rotates through driving a double roller shaft belt transmission part. The belt of the double roller shaft belt transmission part is in friction with a comb part to generate electricity, so that a metal protection part forms a positive electricity output body. The positive electricity output body formed by the metal protection part reduces the oscillation of the ink entering the ink barrel. When the added ink is close to a ball, positive charges gather in the ink, so that the ball repels the ink like a magnet, finally bends the originally vertically flowing ink, and makes the ink flow down along the ink barrel wall after entering the ink barrel, so that the problem that the ink will oscillate in the ink barrel and affect the monitoring result of the liquid level sensor is solved.

This invention belongs to the field of automatic control technology, specifically relating to a parameter adaptive optimization control method for a carrier gas evaporator-condenser. The method includes: acquiring and denoising the inlet carrier gas temperature, outlet carrier gas temperature, inlet carrier gas volumetric flow rate, inlet carrier gas relative humidity, and real-time spray water flow rate to obtain an effective operating dataset; acquiring the instantaneous heat transfer power at the sampling time based on the effective operating dataset; obtaining the evaporation efficiency ratio coefficient based on the instantaneous heat transfer power; acquiring the adaptive control gain based on the deviation between the evaporation efficiency ratio coefficient and a preset benchmark efficiency coefficient; compensating for the pressure deviation value of the condensing pressure using the adaptive control gain; and acquiring and issuing target frequency commands to the variable frequency drive devices for the fan and the spray water circulation pump. This invention solves the problem that control parameters cannot be dynamically adjusted according to environmental load, reduces energy consumption, and improves the stability of condensing pressure control.

This invention discloses a longitudinal anti-interference control method for a small fixed-wing unmanned aerial vehicle (UAV) based on the Actor-Critic framework. The steps are as follows: First, a longitudinal model of the UAV under disturbance is established; second, a performance function is designed to evaluate the control performance of the UAV, the Critic approximates the nonlinear performance function, and the Actor learns the optimal control law that minimizes the performance function; third, a disturbance neural network is added to estimate the disturbance of the UAV in the worst-case scenario, and a momentum neural network is used to improve the learning speed. This invention uses reinforcement learning technology and a neural network to approximate the performance function with the optimal control law, achieving adaptive control of the UAV under disturbance. This invention not only enhances the anti-interference capability of the UAV but also accelerates the convergence speed of the reinforcement learning control law.

The invention discloses a fluid migration prediction method and device based on uncertainty constraints, relates to the technical field of data processing, and mainly aims to solve the problems of poor accuracy and effectiveness of existing fluid migration prediction based on uncertainty constraints. Comprising the following steps: acquiring a noisy data set of a medium of the uranium-containing solution migrated underground, and constructing a convective diffusion physical control model for representing the convective diffusion process of the uranium-containing solution; constructing a joint posterior probability model based on the joint posterior distribution of the noisy data set, the physical consistency likelihood item of the convective diffusion physical control model and the physical residual item of the physical information neural network model; and solving the joint posterior probability model based on variational gradient descent to obtain a particle set of posterior distribution, and predicting the noisy data set according to the particle set and the physical information neural network model to obtain a fluid migration prediction result.

The present application belongs to the field of unmanned aerial vehicle precise landing control, and specifically proposes an unmanned aerial vehicle precise landing delay compensation control method; first, the sampling time and output time of the on-board sensor of the unmanned aerial vehicle are obtained, the input and output time of the calculation module is calculated, and the input and output time of the control instruction transmission process is calculated, so as to obtain the delay time length of the whole process; then, the segmented approximate accumulation method is used to calculate the position of the unmanned aerial vehicle in the delay stage; then, the moving target position of the unmanned aerial vehicle is corrected; finally, according to the corrected target position, the speed and acceleration of the unmanned aerial vehicle are determined in combination with the rule base. Using the position compensation method, the position deviation of the unmanned aerial vehicle in the delay stage can be corrected, which provides a basis for position control. The fuzzy control strategy better suppresses the overshoot, reduces the horizontal position oscillation of the unmanned aerial vehicle during landing, and shortens the landing time.

The application relates to the technical field of nonlinear electromechanical system control, and discloses a rotary inverted pendulum composite nonlinear feedback tracking control method. The method establishes a nonlinear dynamics model based on the mechanical structure parameters of a rotary inverted pendulum and the driving relationship of a direct-current motor, linearizes the model near a balance point of a pendulum rod, and obtains a state space model with motor control variables as inputs; according to the coupling relationship between each state variable and a control target, the system state vector is decomposed into a pendulum rod stable ring state vector and a rotary arm tracking ring state vector, the pendulum rod stable ring constructs a pendulum rod stable control law to keep the pendulum rod upright, and the rotary arm tracking ring constructs a composite nonlinear feedback control law on the basis of the pendulum rod stability. The composite nonlinear feedback control law takes the rotary arm position tracking error as a regulating variable, adjusts the feedback strength through a non-positive bounded nonlinear function, strengthens the damping action when the rotary arm approaches the target position, thereby reducing the overshoot and oscillation in the position tracking process, and improving the rapidity and stability of the tracking response.

The application relates to the technical field of computer system evaluation, and particularly discloses an evolvable and reliable cloud level calculation system and method based on game optimization; the method comprises the following steps: in the first stage, a pair comparison matrix is established based on the theory of trusted computing dependency tree and the analytic hierarchy process to generate a static weight vector; in the second stage, multi-source threat data is collected through an AI model, a double comparison matrix is constructed through double-dimension labeling classification, and a dynamic weight vector is output; through game theory, an antagonistic pair of core security mechanisms is identified, an antagonistic gradient and the dynamic weight vector are calculated, a weight convergence interval and a level promotion upper bound are predicted, and an optimal weight evolution path is generated; the system is used for realizing an evolvable and reliable cloud level calculation method based on game optimization; and the application is favorable for improving the adaptability and predictability of cloud security evaluation and providing a decision basis for cloud service security optimization.

The application provides a communication method and device, the method is applied to a first network device, the first network device is in an M-LAG networking, the M-LAG networking further includes a second network device, the first network device includes a first MLAG interface, and the method includes: if the first network device senses that the M-LAG networking is split, sending first protocol packets to a plurality of third network devices accessing the M-LAG networking through the first MLAG interface respectively; if second protocol packets sent by the third network devices are received through the first MLAG interface, and the number of the second protocol packets is the same as the number of the first protocol packets, maintaining a current working mode.

The invention discloses a fixed base mechanical arm point-to-point trajectory optimization method based on a near-end strategy optimization algorithm, solves the problem that a high-dimensional continuous action space exists when deep reinforcement learning is directly used for a fixed base mechanical arm tail end position to reach a task, and belongs to the field of robot operation control and mechanical arm autonomous motion optimization. The method comprises the steps that a mechanical arm kinematics model is established, and constraint conditions are defined; modeling a tail end point-to-point arrival task as a sequential decision process, constructing a state vector as the input of a strategy network, and taking a tail end displacement increment direction vector as the action output of the strategy network; mapping the tail end displacement increment direction vector into a joint increment through differential inverse kinematics, and performing constraint processing according to a constraint condition to generate an executable joint control instruction; and training the strategy network by adopting a near-end strategy optimization algorithm, obtaining a single-step reward through a multi-target reward function, and evaluating the performance output by the action of the strategy network according to the single-step reward until convergence.

The application discloses a power coordination control method of a charging system and relates to the technical field of charging piles, and comprises the following steps: S1: acquiring three-phase voltage of a power grid in real time, obtaining three-phase safe voltage of the power grid through the three-phase voltage of the power grid, acquiring a maximum allowable working current, acquiring a power factor, obtaining a maximum power limit value of a PCS through the three-phase safe voltage of the power grid, the maximum allowable working current and the power factor; when a charging gun is converted from slow charging to fast charging and proposes a power up-regulation request, whether there is a power up-regulation space is judged through a total output power and the maximum power limit value of the PCS, so that different power up-regulation strategies are formulated according to the size of the up-regulation space, which is beneficial to avoiding PCS overcurrent faults caused by uncontrollable sequences of power adjustment, and is also beneficial to improving the safety of power adjustment, so that circuit oscillation is smaller and more stable and safe.

This invention discloses an SCR ammonia injection control method and system. First, a PLS regression is constructed by collecting signals such as inlet / outlet NOx, flue gas volume, temperature, oxygen content, and ammonia flow rate. The regression coefficients are then used as state variables and updated online adaptively by Kalman filtering. Next, the ammonia injection quantity is calculated using SCR stoichiometry as feedforward, and model-based feedback correction and inlet NOx slope disturbance feedforward are introduced. Combined with operating condition fluctuation detection, valve smoothing, and amplitude limiting, ammonia injection valve commands are generated, achieving stable control of outlet NOx near a narrow-band setpoint, reducing ammonia consumption and valve adjustment frequency.

The invention provides a permanent magnet synchronous motor voltage saturation suppression method and system and a storage medium, and relates to the technical field of motor control, and the method comprises the steps: obtaining a current q-axis voltage when a permanent magnet synchronous motor enters a voltage saturation state; judging whether the current voltage saturation point falls on the left semicircle or the right semicircle of the voltage limit ellipse based on the q-axis voltage; when the voltage saturation point falls on the right semicircle, a first compensation strategy is started, and the first compensation strategy is configured to adjust the actual d-axis current to be increased in the negative direction and the output torque of the permanent magnet synchronous motor to be unchanged; and when the voltage saturation point falls on the left semicircle, a second compensation strategy is started, and the second compensation strategy is configured to adjust the actual d-axis current to be reduced in the negative direction and the output torque of the permanent magnet synchronous motor to be unchanged. According to the method, different compensation methods are adopted to dynamically adjust d-axis currents distributed in different voltage circles on the premise that the output torque is not changed when the voltage of the motor is saturated, so that current following is achieved, and the motor is prevented from being out of control.

The invention discloses an agricultural environment light control method and control system based on a multi-sensing mechanism. The method comprises the following steps: acquiring environment data in an agricultural environment; according to the environment data, calculating a dynamic illumination target value through an environment influence weighted fusion model; calculating an intermediate illumination target value through a smooth transition model according to the corrected illumination data and the dynamic illumination target value; calculating an illumination deviation value according to the corrected illumination data and the intermediate illumination target value; and according to the illumination deviation value, based on a PID control algorithm, generating an illumination control signal and outputting the illumination control signal to a light supplement execution mechanism so as to realize illumination control in the agricultural environment. Firstly, perception precision is improved through multi-dimensional environment data correction, and secondly, illumination requirements are matched through a dynamic fusion model; and finally, the robustness of the system is enhanced through smooth transition and PID control, and accurate and adaptive agricultural light control is realized.

The application discloses a fuzzy PI PWM control method applied to a BOOST circuit and belongs to the technical field of power electronics. According to the method, the initial values of a group of proportional coefficients and integral coefficients with the highest boost efficiency are debugged in advance, fuzzy PI control parameters are generated, proportional coefficient correction amounts and integral coefficient correction amounts corresponding to different output voltage deviation amounts and output voltage change rates are generated and stored in a memory in a table form, then the output voltage is sampled at a fixed time, the output voltage deviation amount and the output voltage change rate are calculated, the proportional coefficient correction amount and the integral coefficient correction amount are quickly obtained by table lookup, and then the next round of proportional coefficient and integral coefficient are calculated and used for PI control of a voltage loop. The method improves the tracking precision of the output voltage, avoids the need for fuzzy PI recalculation each time, significantly reduces the number of floating point operations in adaptive fuzzy PI control, and reduces the operation burden of a single-chip microcomputer.

The application provides a low-voltage large-current battery charging method and system based on a hybrid control full-bridge architecture, and relates to the technical field of power electronics. The method comprises the following steps: determining a load index representing a charging load state; in response to the load index satisfying a mode switching condition, establishing a state mapping relationship between a current control mode and a target control mode of a full-bridge power conversion unit, wherein one of the current control mode and the target control mode is a PWM control mode, and the other is a second control mode for output control by adjusting a switching frequency and / or a bridge arm phase difference; based on the state mapping relationship, converting a current control state in the current control mode into a starting control boundary corresponding to the target control mode, and controlling the full-bridge power conversion unit to switch to the target control mode. The scheme is beneficial to improving the state mismatch problem during switching of different control modes in a low-voltage large-current charging scene, and improving the cross-condition operation stability.

The application provides a kind of loudspeaker sound optimization system and method, belongs to loudspeaker technical field, containing loudspeaker support, the loudspeaker support is equipped with loudspeaker body, the outside of the loudspeaker support is fixedly connected with connecting outer ring;The outer circumferential surface of the connecting outer ring is fixedly connected with assembly outer ring, and the assembly outer ring is reserved with mounting hole;The upper and lower two side rods on the loudspeaker support are equipped with anti-oscillation module;The other end of the anti-oscillation module is equipped with assembly rod.The application solves the problem that the existing loudspeaker lacks structure to reduce oscillation, and the loudspeaker will produce oscillation during work, which will cause the components to touch each other, and noise will be generated when touching, which will cause the sound quality played by the loudspeaker to deteriorate during work, and the oscillation will also cause the connection between parts to be loose or even detached.

The invention provides a complex scene-oriented unmanned aerial vehicle active tracking method and system, and relates to the field of unmanned aerial vehicle and moving object target tracking. The method comprises the following steps: S1, preprocessing data, and constructing an IMM model set; s2, based on the preprocessed data and the IMM model set, parallel filtering is carried out, and fusion state estimation and posterior probability are obtained; s3, generating a dynamic probability transfer matrix based on the preprocessed data and the posterior probability; s4, performing interaction and state fusion on each motion model based on the dynamic probability transition matrix, and outputting target state fusion estimation; and S5, performing time sequence updating and state estimation transmission based on target state fusion estimation. According to the complex scene-oriented unmanned aerial vehicle active tracking method and system, rapid and accurate identification and smooth switching of the target are realized, and the tracking robustness and the state prediction accuracy are improved.

This invention discloses a method for controlling the weight of the intermediate silo in the unloading section of a sintering system's annular cooler. It includes: 1) establishing a silo weight model based on historical data of the annular cooler's speed, historical data of the plate feeder's speed, and historical weight data of the intermediate silo; 2) using the constructed silo weight model to determine the speed of the plate feeder. V 1. Average weight of silo W ;3) Set the weight range of this control response output to [ W 1, W 2]; where W1 is the lower limit threshold of the intermediate silo weight, and W2 is the upper limit threshold of the intermediate silo weight; 4) when the average weight of the silo W Less than the lower threshold W 1 and duration t When the value exceeds the predetermined value, the speed of the plate feeder is adjusted; or when the average weight of the hopper is... W Greater than the upper limit threshold W 2 and duration t 5) The speed of the plate feeder is adjusted when the predetermined value is exceeded. The method of this invention allows for the prediction and setting of the plate feeder speed.

The invention relates to a network device with smooth failover of a session. Techniques are disclosed for a network device that performs a gradual failover of a session from a first link to a second link. For example, a network device forwards network traffic for a plurality of sessions via a first link. The network device determines that the performance of the first link does not meet the performance requirement. Based on the determination, the network device forwards the network traffic of the first portion of the plurality of sessions via the second link rather than the first link. The network device determines that the performance of the second link satisfies the performance requirement while bearing the network traffic of the first portion. Based on the determination, the network device forwards a second, larger portion of the network traffic of the plurality of sessions via the second link rather than the first link.

The present application relates to the technical field of oscillation suppression, and provides a wide-band oscillation suppression method and system for offshore wind power flexible direct current system, which comprises: a direct current part transmitted from an offshore converter station to a land converter station, wherein a virtual resistance is introduced by adding a damping controller in a control system of an MMC to suppress the medium and low frequency oscillation on the direct current side; a passive damping structure and an active low-pass filter are added in the MMC bridge arm structure to suppress the high frequency oscillation on the direct current side; an impedance controller is added in the MMC alternating current side of the converter station to suppress the medium and low frequency oscillation on the alternating current side in the alternating current part from each motor of an offshore wind farm to the offshore converter station; and a passive damping structure and an active low-pass filter are added in the MMC alternating current side bridge arm structure of the converter station to suppress the high frequency oscillation on the alternating current side. The damping characteristics of each frequency band on the alternating current and direct current sides are comprehensively improved, the wide-band oscillation and negative damping risk are eliminated from the source, and multiple types of wide-band oscillation are effectively suppressed.

This invention belongs to the field of automatic control technology, specifically relating to a parameter adaptive optimization control method for a carrier gas evaporator-condenser. The method includes: acquiring and denoising the inlet carrier gas temperature, outlet carrier gas temperature, inlet carrier gas volumetric flow rate, inlet carrier gas relative humidity, and real-time spray water flow rate to obtain an effective operating dataset; acquiring the instantaneous heat transfer power at the sampling time based on the effective operating dataset; obtaining the evaporation efficiency ratio coefficient based on the instantaneous heat transfer power; acquiring the adaptive control gain based on the deviation between the evaporation efficiency ratio coefficient and a preset benchmark efficiency coefficient; compensating for the pressure deviation value of the condensing pressure using the adaptive control gain; and acquiring and issuing target frequency commands to the variable frequency drive devices for the fan and the spray water circulation pump. This invention solves the problem that control parameters cannot be dynamically adjusted according to environmental load, reduces energy consumption, and improves the stability of condensing pressure control.