134results about How to "Stable control" patented technology

The invention relates to a magnetic suspension bearing control system and method and refrigeration equipment, and the system comprises a magnetic suspension bearing control module which is used for controlling a magnetic suspension bearing; the battery management module is electrically connected with the magnetic suspension bearing control module; and the master control module is respectively connected with the magnetic suspension bearing control module and the battery management module and can control the battery management module to store electric energy when the voltage of the magnetic suspension bearing control module is excessive and supply power to the magnetic suspension bearing control module when the power supply of the magnetic suspension bearing control module is insufficient. According to the technical scheme of the magnetic suspension bearing control system, through cooperative work of the battery management module and the master control module, the stability, the energy-saving performance and the response speed of the system are enhanced, the service life of equipment is effectively prolonged, and the maintenance cost is reduced. The integrated solution provides a safer, more reliable and more economical operating environment for high-performance and high-precision mechanical equipment.

The application relates to the technical field of non-standard storage tanks, and proposes a precise temperature control non-standard storage tank structure and a construction method, wherein the precise temperature control non-standard storage tank structure comprises a storage tank body, fixing cylinders, a material uniformizing assembly, a mounting frame, a stirring assembly, a storage tank, a heat tracing half pipe, a heating assembly and a heat exchange assembly, three fixing cylinders are fixedly installed on the storage tank body at equal angles, the included angles between the three fixing cylinders and the axis of the storage tank body are all 45 degrees, the material uniformizing assembly is installed in the fixing cylinders, the mounting frame is fixedly installed at the bottom of the storage tank body, the stirring assembly is installed on the mounting frame, the storage tank is fixedly installed on the storage tank body, the heat tracing half pipe is fixedly installed in the storage tank body, the heating assembly is installed in the storage tank, and the heat exchange assembly is installed on the storage tank, so that the problem that the substances in the storage tank are difficult to be accurately temperature controlled due to the non-uniform temperature of different areas in the storage tank in the prior art is solved.

The application relates to the technical field of robots, and discloses a kind of two-degree-of-freedom parallel ankle joint mechanism of humanoid robot and kinematics and mechanics solving method, including seven-link transmission structure, which is composed of two groups of closed-chain transmission of parallel four-bar linkages.Motor I and II are installed on the upper end of the lower leg, and the rotation drives link IV and III to move through link I, II, V and VI, and then coupled control ankle joint pitch and lateral freedom degree.The mechanism realizes load balancing of double motors through parallel transmission, improves equivalent torque, and can combine kinematics and mechanics solving method, so that precise control can be realized only by motor feedback, sensor cost is reduced, and is suitable for high stability motion demand of biped robot.

The invention relates to the technical field of reactors, in particular to a kneading-pressing type mixing reactor based on hydraulic drive and a working method, and the kneading-pressing type mixing reactor comprises a mixing cavity section module, a power source module and a microcontroller. Wherein the mixing cavity section module is provided with a flexible inner container used for containing materials, a plurality of independent flexible driving cavities are arranged outside the mixing cavity section module, and the mixing cavity section module comprises at least one annular cavity section and a base cavity section; the power source module conveys or recycles a working medium to each driving cavity through a pipeline system with an independent control valve and drives the driving cavities to expand or contract, so that local extrusion force is applied to the wall surface of the flexible liner from the outer side; the microcontroller controls all the valves to act according to a preset strategy and drives all the cavity sections to act cooperatively, so that the flexible inner container generates non-rotating modeling deformation kneading and pressing actions, three-dimensional mild mixing of materials is achieved, the safety risk of rotating components is fundamentally eliminated, and the problems that high-viscosity materials are poor in mixing uniformity and mixing heat release is difficult to remove rapidly are solved.

The utility model discloses a multicore wire stranding machine, including frame, swivel support, rotation axis, drive mechanism and at least two constant tension pay -off device, constant tension pay -off device sets up in swivel support and gives out core wire, drive mechanism drives rotation axis and swivel support rotation, constant tension pay -off device includes frame and sets up in the pay -off reel of frame, pay -off servo motor, gyro wheel, flexible connecting piece, rotation servo motor, tension take -up wheel, displacement detection subassembly and servo controller, and the output of pay -off servo motor is connected with the pivot of pay -off reel, and gyro wheel is linearly movably arranged in the frame, the output shaft of rotation servo motor is connected with tension take -up wheel, and displacement detection subassembly detects the rotation angle of the output shaft of rotation servo motor or detects the displacement of gyro wheel. The utility model can automatically control the tension of the core wire pay -off of stranding machine, makes the tension and line speed of cable keep constant, realizes digitization and intelligent production, effectively improves production efficiency and the quality of cable.

The utility model relates to the technical field of diving accessories, and discloses a Hall switch type underwater photography light supplementing device, which comprises a main shell provided with an opening, an accommodating cavity arranged in an area far away from the opening, and a first transparent plate mounted at the opening; the cover body is fixedly connected with the main shell, the cover body is provided with a second transparent plate, and a sealing ring is arranged between the cover plate and the main shell; the light supplementing lamps are arranged around the opening; the power source is installed in the containing cavity, and the light supplementing lamp is electrically connected with the power source; the Hall switch assembly is installed on the side portion of the main shell and used for controlling the light supplementing lamp to be turned on or turned off. The device has the advantages of being simple in structure, convenient to operate and high in stability, effective control over the light supplementing device and the shooting device is achieved through the Hall sensor, the device is not affected by the water depth, and the device can be applied to various complex diving environments.

The application relates to the technical field of power supply circuits, and particularly discloses a self-adaptive constant-current control method and system for a DC-DC direct-current conversion power supply, wherein the output voltage is acquired in real time and compared with a plurality of preset voltage thresholds, the interval where the output voltage is located is identified, the input current constant-current given value is reduced according to a first step value in response to the output voltage rising in the voltage limiting zone, the input current constant-current given value is reduced according to a second step value in response to the output voltage rising in the current sharing zone, and the first step value is greater than the second step value, so that the voltage overshoot caused by load shedding is quickly inhibited, the stable control of the output voltage is brought, the dynamic response capability of the system is improved, and the risk of damage of power devices due to overvoltage is reduced.

The utility model discloses an adjustable hydraulic joint which comprises a first connecting part and a second connecting part, a connecting assembly is fixedly connected between the first connecting part and the second connecting part, one end, close to the second connecting part, of the first connecting part is fixedly connected with a storage pipe, and a sealing assembly is arranged in the storage pipe. An inserting pipe is fixedly connected to the end, close to the first connecting part, of the second connecting part, a transmission assembly is in transmission connection with the middle of a pipe body of the inserting pipe, a positioning assembly is movably connected to the end, away from the storage pipe, of the pipe body of the inserting pipe, and a sealing gasket is movably connected to the interior of the storage pipe; according to the hydraulic connector, the size of a pipeline passing through an opening can be adjusted by adjusting the position of the movable plate, accurate, stable and flexible flow control can be achieved, and therefore the performance and reliability of a whole hydraulic system are improved.

This utility model discloses a remote control switch circuit, including: a remote control communication unit, a signal control unit, and a switch response unit. The communication terminal of the remote control communication unit is communicatively connected to a remote control signal generator. The signal output terminal of the remote control communication unit is electrically connected to the signal input terminal of the signal control unit. The signal output terminal of the signal control unit is electrically connected to the signal input terminal of the switch response unit. The switch signal output terminal of the switch response unit is electrically connected to the switch signal input terminal of the appliance. The remote control communication unit receives remote control signals, and the signal control unit repeatedly processes these signals to stabilize the control of the appliance, preventing malfunctions. Finally, the switch response unit completes the automated control of the device, thus improving the stability of the remote control.

The utility model relates to a kind of device of pulse laser pulse sub-string, including pulse laser, laser attenuation device, laser beam-reducing device, laser polarization device, wave sheet, Pockels cell, output mirror, waveform detection device, and output mirror is to the waveform detection device output first light beam and to the original light path reflection second light beam;Laser polarization device side is also configured full mirror;Pockels cell is connected with high-voltage pulse generator, pulse laser is also connected with digital delay pulse signal generator, and digital delay pulse signal generator is used to send synchronization signal to high-voltage pulse generator to control high-voltage pulse generator to generate voltage pulse when pulse laser emits laser beam reaches Pockels cell.This application realizes the stable control and output of pulse sub-string by the electro-optic modulation characteristics of Pockels cell, compared with traditional method of improving laser repetition frequency, implementation is simple, and use component is less, while guaranteeing stability, reduce cost.

The invention discloses a dynamic event triggering preset time fault-tolerant control method considering a non-affine fault. The method comprises the following steps: carrying out online approximation on an unknown nonlinear term in a dynamic decoupling model by adopting a fuzzy logic system to obtain an optimized system model; constructing a segmented preset time performance function, and introducing an instruction filter based on a dynamic surface control technology to process a virtual control signal of the constructed adaptive virtual control law so as to obtain a filtering error; constructing a dynamic signal compensation mechanism based on the filtering error in combination with a sectional preset time performance function, and obtaining a compensated final tracking error; and constructing a dynamic event triggering mechanism to obtain a final fault-tolerant controller, and realizing dynamic event triggering preset time fault-tolerant control considering the non-affine fault according to the final fault-tolerant controller. According to the method, the technical problems of uncontrollability of convergence time, influence of actuator faults and nonlinearity on control performance and limitation of communication and computing resources in the existing method are solved.

This invention discloses a sliding mode control method for wastewater treatment processes based on predetermined time performance, belonging to the field of wastewater treatment and nonlinear control technology. This invention is the first to combine second-order integral sliding mode control with a second-order command filter and apply it to the control system of a wastewater treatment plant (WWTP). It considers the requirement that the control coefficient must be greater than 0, and the control effect is superior to existing results. To ensure the timely operation of the wastewater treatment plant, predetermined time performance is used to keep the overall control performance within a specified range and achieve faster convergence. An improved integral sliding surface is constructed, and a novel adaptive controller is designed, achieving stable control of the wastewater treatment plant under three different weather conditions.

The utility model belongs to the technical field of flexible structure design, and particularly relates to a height-variable supporting column structure which comprises a shell, a series butterfly-shaped flexible device and a driving device. The shell is in a regular hexagon shape, the interior of the shell is of a hollow structure, the top of the shell is open, the series butterfly-shaped flexible device and the driving device are both arranged in the shell, the series butterfly-shaped flexible device comprises multiple sets of flexible plates stacked up and down, round holes are formed in the centers of the flexible plates, and the flexible plates and the shell are coaxially arranged; the driving device and the shell are coaxially arranged; when the height of the supporting column needs to be adjusted, the driving device drives the multiple sections of column bodies to slide up and down, meanwhile, the flexible plate stretches or contracts under the elastic force of the flexible plate, and therefore height adjustment of the supporting column is achieved, the structure is simple, and control is stable. Meanwhile, in the process of changing the height, the height-variable supporting column has enough lateral rigidity to resist lateral load and torque load, and the process is simple and easy to implement.

The invention discloses a control method for operation equipment and a related device, and relates to the technical field of operation equipment. The control method comprises the following steps: determining a driving path and a target end point based on environment information collected by operation equipment; determining a first distance between the current position of the operation equipment and the target end point; based on a comparison result between the first distance and a preset threshold value, adopting a first control strategy or a second control strategy to drive the operation equipment to move, wherein under the condition that the first distance is greater than the preset threshold value, path tracking is carried out along the driving path by adopting the first control strategy; and under the condition that the first distance is smaller than or equal to the preset threshold value, switching to the second control strategy to enable the operation equipment to move to the target end point. According to the invention, the operation precision of the unmanned forklift in a complex outdoor scene can be improved.

The invention discloses a three-level T-type inverter grid-connected control method based on a sliding-mode observer, and relates to the technical field of grid-connected control. According to the three-level T-type inverter grid-connected control method based on the sliding-mode observer, a preset time sliding-mode control scheme based on the sliding-mode observer is provided, a continuous Sigmoid function is introduced to replace a nonlinear sign function to construct a sliding-mode observation reaching law, signals can be effectively and smoothly controlled, and the control precision of the three-level T-type inverter grid-connected control method based on the sliding-mode observer is improved. The inherent high-frequency buffeting phenomenon of traditional sliding mode control due to a sign function is remarkably suppressed, and meanwhile, the convergence speed and tracking precision of the system are improved. On the basis of observing power grid voltage serving as external disturbance through a sliding-mode observer, feedforward compensation is performed on the external disturbance, and the feedforward compensation is applied to a sliding-mode control reaching law of preset time so as to suppress buffeting and accelerate the convergence process of output current. And the timeliness and the stability of grid-connected control of the three-level T-type inverter based on the sliding-mode observer are improved.

The utility model discloses a kind of cyclic treatment systems of silane gas decomposition tail gas in polysilicon production, including at least one group by adsorption tower and analysis tower composition pressure swing adsorption device, the gas inlet end of pressure swing adsorption device is equipped with tail gas compressor, tail gas compressor connects the tail gas outlet of silane gas decomposition device, the product gas outlet end of pressure swing adsorption device is equipped with adsorption product gas tank, adsorption product gas tank is connected to silane gas decomposition device by circulating hydrogen pipe, the pressure relief end of pressure swing adsorption device is connected to cold hydrogenation device.The utility model utilizes the principle of pressure swing adsorption to separate and impurity removal hydrogen in silane gas decomposition tail gas, obtained product hydrogen and pressure relief gas can be used as circulating hydrogen and cold hydrogenation device respectively, without material waste, the setting of tail gas compressor and adsorption product gas tank can guarantee the stability of system control and circulating hydrogen recovery.

The application relates to the technical field of industrial control, and provides a differential pressure balance control method and system for a plugging and draining device, which comprises the following steps: obtaining a pressure signal of the plugging and draining device, and performing segmented processing on the pressure signal; extracting characteristic parameters reflecting the fluid state from the pressure signal after the segmented processing; judging a flow mode in which the fluid is located according to the characteristic parameters; and adjusting a differential pressure balance control strategy according to the flow mode, wherein: when the flow mode is a stable state, a conventional differential pressure feedback adjustment mode is adopted; when the flow mode is an unstable state, a trend estimation is performed on the pressure signal to obtain an overall differential pressure change trend, and the opening of a control valve is adjusted according to the overall differential pressure change trend, while the adjustment speed of the control valve is limited, and the minimum opening of the control valve is maintained. The application can avoid misjudgment and excessive adjustment caused by instantaneous fluctuation of a traditional control system.

The invention discloses a pair of reusable bipolar electrocoagulation forceps, and belongs to the technical field of electrosurgical operating instruments. According to the bipolar electrocoagulation forceps, the first shell and the second shell can be detachably connected through the magnetic attraction assembly, the actuator assembly is arranged at the far end of the rod assembly, and the forceps rod driving mechanism and the cutter rod driving mechanism of the control assembly are arranged on the support, so that after the bipolar electrocoagulation forceps are used, the shell assemblies can be rapidly disassembled, and the operation is convenient. The rod assembly of the integrated structure is detached from the support, so that the forceps head and the cutting blade are more convenient to clean, sterilize and disinfect; besides, the cutting mechanism, the forceps rod and the outer rod are nested and connected into an integrated structure from inside to outside, the forceps rod driving mechanism is in transmission connection with the part, exposed out of the outer rod, of the forceps rod, and the cutter rod driving mechanism is in transmission connection with the part, exposed out of the forceps rod, of the cutter rod. On the other hand, the control assembly can control the cutter bar and the forceps rod more stably and reliably.

The utility model relates to glass window technical field discloses a built-in shutter hollow glass of three glass two cavity, including frame, the indoor glass and intermediate glass are installed to the front side of frame, the outdoor glass is installed to the back of frame, be provided with the shutter between the intermediate glass and outdoor glass, the pull cord is connected to the bottom from the bottom of shutter, and the upper portion of frame is provided with the pivot, and the pivot is installed with the reel, and the pull cord of shutter is wound on the reel, and the remote end of pull cord is connected with the inner magnetic handle, the front side fixed connection of frame has the apron, in the utility model, through indoor handle and handle guide rail sliding connection, and three handle space attractive cooperation, indoor handle removes, and the inner magnetic handle is driven in turn by magnetism, and the pull cord of shutter is pulled, realizes to shutter blade angle control, solves the problem of the insufficient actuating force because of the big distance between the inner and outer magnetic handle, and the weak suction force, ensures that the shutter operation is smooth and reliable.

This utility model discloses a hydraulic locking device for a gate blowout preventer, relating to the field of oil drilling and production technology. It includes a gate blowout preventer, a locking shaft and a cylinder liner mounted on the gate blowout preventer. Its key feature is that it also includes a main unit mounted on the gate blowout preventer. The main unit includes a hydraulic motor fixedly connected to the cylinder liner via a motor connecting sleeve. The rotor of the hydraulic motor has a hollow structure, and a drive sleeve is coaxially driven within the rotor. A drive rod is coaxially slidably fitted within the drive sleeve, with both ends of the drive rod passing through both ends of the drive sleeve. One end is fixedly connected to the locking shaft, and the other end is fixedly connected to a manual operating lever. The advantages of this utility model are: by adopting an external modular design, it eliminates the need to modify the original blowout preventer structure. Through the motor connecting sleeve and quick fixing to the cylinder head, and the direct connection of the drive rod to the original locking shaft, the manual locking blowout preventer can be quickly upgraded to a hydraulic locking mode, significantly reducing the difficulty, time, and cost of retrofitting existing equipment.

The invention discloses sausage casing filling equipment and a filling method for sausages with juice exploded, and belongs to the technical field of sausage casing filling. A second storage bin used for storage is formed in a second side box, an automatic pushing and injecting system B is installed at the bottom of a first storage bin and connected with a piston in a filling tank, and a second storage bin used for storage is installed at the bottom of the second storage bin; pushing and injecting operation of the juice-exploded sausage material in the filling tank is realized through the automatic pushing and injecting system B; and a cleaning system C is installed in the second storage bin, penetrates into the first storage bin, is connected with the piston, injects cleaning liquid into the filling tank and acts together with the automatic pushing and injecting system B to be used for automatic cleaning operation of the filling tank. Accurate pushing and injecting of the filling system, stable driving of the pushing and injecting system and automatic efficient cleaning of the cleaning system cooperate with one another, so that the filling process is accurate and efficient, cleaning is automatic and thorough, the equipment operation efficiency and safety and the product quality are improved, and manual intervention is reduced.

The application discloses a kind of meniscus data processing method and related equipment, method includes: based on sampling point set, by principal component analysis to obtain unit eigenvector and then construct to obtain meniscus main plane;According to basic data, by proportion demarcation identification to obtain meniscus front and back root;Sampling point set is projected to meniscus main plane, and then combined with meniscus front and back root to carry out polar angle partition, by polar radius weighted average screening representative point of each partition, construct to obtain continuous path curve;Meniscus front and back root are added to continuous path curve, obtain target path.The application constructs meniscus main plane by principal component analysis, and then combined with polar angle partition and polar radius weighted average, can realize the automatic generation of steel wire implantation path, and the path generated has good structural adaptability and repeatability, provides reliable support for the mechanical optimization and implantation safety of meniscus implant body, and can be widely applied in data processing technical field.

The application relates to a liquid rocket engine test heating device, in particular to a liquid rocket engine inner cavity induction heat accumulation type hot nitrogen gas supply device and method, and solves the technical problem that the existing low-temperature liquid rocket engine usually adopts an external hot air forced convection or electric heating wire heating nitrogen gas mode to heat the pipeline and the engine inner cavity nitrogen gas, and it is difficult to meet the low-temperature liquid rocket engine pipeline and engine inner cavity rapid temperature recovery requirement. The liquid rocket engine inner cavity induction heat accumulation type hot nitrogen gas supply device comprises a heating unit, a pressure monitoring unit, a temperature monitoring unit and a control unit; the heating unit comprises a buffer tank and a heating assembly arranged on the buffer tank; an air inlet of the buffer tank is used for being connected with an air source; the pressure monitoring unit and the temperature monitoring unit are arranged on the buffer tank and are connected with the control unit respectively; and the control unit is used for controlling the heating assembly to work according to the inner cavity nitrogen gas temperature and the outer wall temperature of the buffer tank.

The present application relates to a kind of microneedle transdermal drug delivery technology, in particular, it relates to a kind of drug-loaded table transdermal nursing system.The drug-loaded table transdermal nursing system includes penetration device, penetration device includes penetration unit, and the penetration unit has substrate and the penetration micro-unit formed on substrate;It further includes delivery device;Delivery device includes delivery unit, and the delivery unit has drug-loading platform, and drug-loading surface of drug-loading platform is provided with drug coating, and drug coating has water-soluble and contains active ingredient;Delivery device can be delivered active ingredient by the reciprocating touch of the skin of specific area multiple times, and when the skin of specific area is touched each time, drug coating partially dissolves, and when the number of touch reaches specific number, drug coating completely dissolves.The nursing system is simple and convenient to operate, can realize the accurate, stable control of drug dosage, can be implemented uniform nursing to specific skin area, and can be suspended or discontinued at any time.

The invention relates to the technical field of optics, and provides an optical isolator coupling control method and system for keeping the light polarization state stable. The method comprises the steps that light polarization states are classified according to light polarization inducements, and polarization categories are divided; according to the polarization type, a modulation decision module is built, and the output end of the modulation decision module is in communication connection with an electro-optical modulator; and the control module is used for identifying a light scene, triggering the detection equipment group, detecting the operation process of the optoisolator, judging whether to activate the modulation decision module or not according to a triggering condition, determining a polarization modulation strategy, and responding to the electro-optical modulator to carry out light modulation driving control. The technical problem that the isolation performance of the optical isolator is reduced due to the fact that the light polarization state is prone to instability in a dynamic environment is solved, and the technical effect of achieving high-precision, real-time and stable optical isolation control through self-adaptive polarization modulation is achieved.

The invention provides a clamping device for stamping die machining, which is applied to the technical field of stamping equipment, and comprises a lower die holder, a carrying plate and a clamping assembly, the lower die holder is provided with an accommodating groove, and the size of the accommodating groove is larger than that of a workpiece; the number of the clamping assemblies is at least two, and each clamping assembly comprises a first sliding block, a clamping piece, a base and a push block. The loading plate and the pushing block are both connected with the lifting plate, the pushing block is in driving fit with the clamping assembly, and the loading plate is arranged in the containing groove of the lower die base; when the lifting plate moves downwards, the pushing block drives the clamping assembly to move towards the center to clamp a workpiece, and meanwhile, the carrying plate moves downwards to give way; when the lifting plate moves upwards, the pushing block enables the clamping assembly to loosen the workpiece, and meanwhile the carrying plate moves upwards to eject the workpiece out of the containing groove. Mechanical linkage of the clamping function and the material ejecting function is achieved, the equipment structure is simplified, the convenience and safety of feeding and discharging are improved, the requirement for the workpiece placing precision is low, and the device is suitable for machining of various stamping parts.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

The invention relates to the technical field of laser welding and discloses laser welding equipment and a welding technology.The laser welding equipment comprises a supporting base, a supporting positioning mechanism is connected to the top end of the supporting base, an auxiliary positioning mechanism and an auxiliary butt joint mechanism are connected to one end of the top of the supporting positioning mechanism, and the auxiliary positioning mechanism comprises two supporting positioning frames; according to the auxiliary positioning mechanism, through the positioning lead screw, the movable base, the clamping frame and other assemblies in the auxiliary positioning mechanism, precise positioning and stable clamping of a strip-shaped workpiece are achieved, the precision problem of manual butt joint is avoided, the working efficiency is improved, and the working efficiency is improved. The butt joint precision of the workpieces before welding is obviously improved; a driving wheel and an anti-skid ring in the auxiliary butt joint mechanism are used for driving the strip-shaped workpieces to move slowly, stable butt joint of the two strip-shaped workpieces is achieved, position deviation and angle deviation are reduced, and guarantee is provided for high-quality welding; and the long-strip-shaped workpiece is stably controlled during laser welding.

The invention discloses a probiotic yoghurt constant temperature fermentation control device, and relates to the technical field of fermentation, the top surface of a gas pipe is provided with a gas conveying groove for conveying gas into the fermentation control device, a gas guide pipe is inserted into the gas pipe, and the gas pipe and the gas guide pipe are in rotary sleeving connection; the fermentation control device has the advantages that whether gas is introduced or not is flexibly controlled according to the requirements for gas in different stages of fermentation, the gas conveying bin can provide buffering and storage space for auxiliary fermentation gas, the gas conveying bin can provide buffering and storage space for the auxiliary fermentation gas, and the fermentation control device is simple in structure, convenient to use and high in practicability. The gas conveying pressure can be balanced, the phenomenon that the fermentation process is influenced by gas pressure fluctuation is avoided, the gas conveying and control functions are achieved, meanwhile, the overall structure is simplified, a proper gas environment can be provided for the fermentation process, and the smooth proceeding of the fermentation reaction is facilitated.

The present invention relates to a smart granular raw material conveyance system and a smart granular raw material conveyance method, wherein, when granular materials in powder form are conveyed along a conveyance line, the precisely metered granular materials are smoothly passed through a vertical pipe vertically installed in the conveyance line, and the granular materials are prevented from remaining or stagnating in the vertical pipe. The smart granular raw material conveyance system comprises at least one of: a first conveyance unit that conveys the granular materials in an amount corresponding to a first conveyance amount; a second conveyance unit that is spaced apart from the first conveyance unit and conveys the granular materials in an amount corresponding to a second conveyance amount equal to or different from the first amount; or a third conveyance unit that is spaced apart from the first conveyance unit and the second conveyance unit, and conveys the granular materials in an amount corresponding to a third conveyance amount equal to or less than the first amount or the second amount.