Mobile extended-range hybrid power control system and method, controller and storage medium

Abstract

The invention provides a mobile extended-range hybrid power control system and method, a controller and a storage medium, and the control system comprises a power battery pack which is used for directly providing driving electric energy for an electric part of a drilling machine; the range extending unit is used for consuming fuel to generate electric energy so as to provide driving electric energy for electric components of the drilling machine; the main control unit is configured to obtain the SOC value of the power battery pack and judge whether the SOC value is lower than a low-capacity threshold value or not; if not, when the electricity demand is in a low-demand state, the power battery pack is controlled to independently provide electric energy for the electric components of the drilling machine; when the electricity demand is in the demand increasing state, the range extending unit is controlled to be dynamically started according to the capacity state of the power battery pack, and the power generation power of the range extending unit is adjusted in real time to be matched with the electricity demand; and when the electricity demand is in a high-demand state, the power battery pack and the range extending unit are controlled to provide electric energy for the electric components of the drilling machine at the same time. According to the invention, energy can be effectively saved, and more economical energy supply is realized.

Description

Technical Field

[0001] The present invention relates to the field of power control technology, and in particular to a mobile extended-range hybrid power control system, method, controller and storage medium. Background Art

[0002] The generator set is the main power device of the drilling rig. Traditional generator sets are mostly diesel engine-driven generator structures. According to the required power, the generator set will often be configured with a power generation power that exceeds the usage target, which can easily lead to many problems such as high diesel energy consumption. In addition, the existing generator sets have a single power supply and cannot provide multi-purpose power supply. Even if the power demand is very small, the entire system needs to be started, which makes it difficult to meet the needs of different usage scenarios. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a mobile extended-range hybrid control method, system, computer and storage medium, which have the advantage of improving energy saving effect.

[0004] To achieve the above objectives and other related objectives, the present invention provides the following technical solutions:

[0005] According to a first aspect of an embodiment of the present disclosure, a mobile extended-range hybrid control system is provided, comprising:

[0006] Power battery pack, used to directly provide driving power to the electrical components of the drilling rig;

[0007] The range extender unit is used to consume fuel to generate electrical energy to provide driving power to the electrical components of the drilling rig;

[0008] A main control unit, wherein the main control unit is configured as:

[0009] Obtaining an SOC value of the power battery pack, and determining whether the SOC value is lower than a low capacity threshold;

[0010] If not, when the power demand is in a low demand state, control the power battery pack to provide power to the power components of the drilling rig alone; when the power demand is in an increased demand state, control the range extender to dynamically start and adjust the power generation of the range extender in real time to match the power demand according to the capacity state of the power battery pack; when the power demand is in a high demand state, control the power battery pack and the range extender to provide power to the power components of the drilling rig at the same time;

[0011] If so, the power battery pack and the range extender are controlled to run simultaneously, and the range extender charges the power battery pack while providing electrical energy to the electrical components of the drilling rig.

[0012] To implement the above technical solution, when the drilling rig uses electricity, due to different output powers required for different electricity demands, the electricity demand is less in the low demand state. When the power battery pack is fully charged, there is enough electric energy to supply the power-consuming components. At this time, the power battery pack alone provides electric energy to the power-consuming components, so that there is no need to start the entire power generation system when the power demand is small, and the corresponding output power can be provided according to the electricity demand without using power exceeding the usage target, which can effectively save energy; when the electricity demand increases, it enters the increased demand state, and the main control unit judges the capacity state of the power battery pack to determine whether it is necessary to start the range extender for power replenishment, and adjusts its power generation power in real time when the range extender is started, so as to achieve more economical energy supply; when the electricity demand is high and in the high demand state, the main control unit controls the power battery pack and the range extender to supply power to the power consuming components at the same time, so that the power of the range extender is more controllable, and can achieve high-horsepower power processing in a low-power state, so as to achieve the purpose of saving fuel.

[0013] In one embodiment of the present invention, in the low demand state, the power consumption is less than the total battery output power and is in a basically stable state; in the increased demand state, the power consumption is in an increasing state; in the high demand state, the power consumption is greater than the total battery output power and is in a basically stable state.

[0014] In one embodiment of the present invention, the power battery pack and the range extender unit are further connected to a power synthesis drive module, and the power synthesis drive module is connected to the main control unit and is used to provide driving power to electrical components.

[0015] By implementing the above technical solution, the power synthesis drive module can process the electric energy of the power battery pack and the range extender unit, and effectively supply power to the electrical components.

[0016] In one embodiment of the present invention, the power synthesis drive module is further connected to a power output module, and the power output module includes an AC output module, a DC output module and a hydraulic drive output module.

[0017] The above technical solution is implemented to meet the needs of different power usage scenarios.

[0018] In one embodiment of the present invention, the range extender unit includes an engine and a generator, and the main control unit is further configured to: during the startup of the range extender unit, control the throttle of the engine to adjust the opening size according to power demand and the capacity status of the power battery pack.

[0019] The implementation of the above technical solution replaces the energy waste caused by manual control of the throttle, and can prevent damage to the engine caused by manual violent control of the engine speed. The throttle size can be dynamically adjusted in a timely manner according to the load power, which can also play a role in energy saving.

[0020] In one embodiment of the present invention, in the increased demand state, when the SOC value of the power battery pack is 30%-85%, the range extender unit is controlled to start.

[0021] Implementing the above technical solution, this capacity stage is the most economical power generation range for the range extender.

[0022] In one embodiment of the present invention, the main control unit is further connected to a display module for displaying the current power usage status of the power battery pack.

[0023] By implementing the above technical solution, the operator can view the current power consumption status in real time through the display module.

[0024] According to a second aspect of an embodiment of the present disclosure, a mobile extended-range hybrid control method is provided, the method being implemented based on the control system according to the first aspect, comprising:

[0025] Obtaining an SOC value of the power battery pack, and determining whether the SOC value is lower than a low capacity threshold;

[0026] If not, when the power demand is in a low demand state, control the power battery pack to provide power to the power components of the drilling rig alone; when the power demand is in an increased demand state, control the range extender to dynamically start according to the capacity state of the power battery pack and adjust the power generation of the range extender in real time to match the power demand; when the power demand is in a high demand state, control the power battery pack and the range extender to provide power to the power components of the drilling rig at the same time;

[0027] If so, the power battery pack and the range extender are controlled to run simultaneously, and the range extender charges the power battery pack while providing electrical energy to the electrical components of the drilling rig.

[0028] According to a third aspect of an embodiment of the present disclosure, a controller is provided, comprising a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the control method described in the second aspect.

[0029] According to a fourth aspect of an embodiment of the present disclosure, a storage medium storing computer-readable instructions is provided. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the control method as described in the fourth aspect.

[0030] As described above, the present invention has the following beneficial effects:

[0031] The embodiment of the present invention provides a mobile extended-range hybrid control system, method, controller and storage medium. When the drilling rig uses electricity, due to different output powers required for different electricity demands, the electricity demand is less in the low-demand state. When the power battery pack is fully charged, there is enough electric energy to supply the power-consuming components. At this time, the power battery pack alone provides electric energy to the power-consuming components, so that there is no need to start the entire power generation system when the power demand is small, and the corresponding output power can be provided according to the power demand without using power exceeding the usage target, which can effectively save energy; when the power demand increases, it enters the increased demand state, the main control unit determines the capacity state of the power battery pack to determine whether it is necessary to start the range extender unit for power replenishment, and adjusts its power generation power in real time when the range extender unit is started, so as to achieve more economical energy supply; when the power demand is high and in the high-demand state, the main control unit controls the power battery pack and the range extender unit to supply power to the power-consuming components at the same time, so that the power of the range extender unit can be more controllable, and it can achieve high-horsepower power processing in the low-power state, so as to achieve the purpose of saving fuel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Shown is a structural schematic diagram of a mobile extended-range hybrid power control system in an embodiment of the present invention.

[0033] Figure 2 Shown is a schematic diagram of the structure of a controller in an embodiment of the present invention.

[0034] Component number description

[0035] 10. Power battery pack; 20. Range extender unit; 30. Main control unit; 31. Display module; 40. Power synthesis drive module; 51. AC output module; 52. DC output module; 53. Hydraulic drive output module. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1 A first aspect of an embodiment of the present invention provides a mobile extended-range hybrid control system, comprising: a power battery pack 10, for directly providing driving power to the electrical components of a drilling rig; a range extender unit 20, for consuming fuel to generate electrical energy to provide driving power to the electrical components of the drilling rig; and a main control unit 30.

[0038] Wherein, the main control unit 30 is configured as:

[0039] Obtaining an SOC value of the power battery pack 10 and determining whether the SOC value is lower than a low capacity threshold;

[0040] If not, when the power demand is in a low demand state, the power battery pack 10 is controlled to provide power to the electrical components of the drilling rig alone; when the power demand is in an increased demand state, the range extender 20 is controlled to be dynamically started according to the capacity state of the power battery pack 10 and the power generation power of the range extender 20 is adjusted in real time to match the power demand; when the power demand is in a high demand state, the power battery pack 10 and the range extender 20 are controlled to provide power to the electrical components of the drilling rig at the same time;

[0041] If so, the power battery pack 10 and the range extender 20 are controlled to run simultaneously, and the range extender 20 charges the power battery pack 10 while providing electrical energy to the electrical components of the drilling rig.

[0042] Specifically, the power battery pack 10 can use a lithium battery, such as a lithium-ion battery, a lithium iron phosphate battery or a ternary lithium battery, etc. The range extender 20 mainly includes an engine and a generator, which generates electrical energy by consuming fuels such as diesel and gasoline; the main control unit 30 can include, for example, a microcontroller unit (MCU), a central processing unit (CPU), a microprocessor (microprocessor), a digital signal processor (DSP), a programmable controller, a programmable logic device (PLD) or other similar devices or a combination of these devices, and the present invention is not limited. In addition, in some embodiments, the functions of the main control unit 30 can be implemented by multiple coding programs, which are stored in a storage medium and executed by the main control unit 30. Alternatively, in some embodiments, the functions of the main control unit 30 can be implemented by one or more circuits, and the present invention does not limit the implementation of the functions of the main control unit 30 by software or hardware.

[0043] Among them, in the low demand state, the electric power consumption is less than the total battery output power and is in a basically stable state. The basically stable state may be, for example, that the fluctuation range of the electric power consumption does not exceed 5%; in the increased demand state, the electric power consumption is in an increasing state; in the high demand state, the electric power consumption is greater than the total battery output power and is in a basically stable state. Similarly, the basically stable state may be, for example, that the fluctuation range of the electric power consumption does not exceed 5%. Of course, in actual use, if the electric power consumption is always greater than the total battery output power, even if the electric power consumption is in a changing state, such as rising or falling, the range extender unit 20 is also controlled to operate.

[0044] During the start-up process of the range-extending unit 20, the throttle of the engine is controlled to adjust its opening size according to the power demand and the capacity status of the power battery pack 10. Since the throttle opening size controls the fuel supply, the power generation power of the range-extending unit 20 can be controlled by adjusting the throttle opening size. Since the energy waste caused by manual control of the throttle is replaced, damage to the engine caused by manual violent control of the engine speed can be prevented. Dynamic adjustment of the throttle size in a timely manner according to the load power can also play a role in energy saving.

[0045] Typically, the above-mentioned low capacity threshold can be set when the SOC value of the power battery pack 10 reaches 20%-30%, preferably 30%; in the increased demand state, when the SOC value of the power battery pack 10 is 30%-85%, the range extender unit 20 is controlled to start. This capacity stage is the most economical power generation range of the range extender. If the SOC value of the power battery pack 10 is 85%-100%, the main control unit 30 maintains control to be powered by the power battery pack 10 alone. If the SOC value of the power battery pack 10 is 30%-85%, the main control unit 30 controls the start of the range extender unit 20 and adjusts the opening of the engine throttle according to power demand.

[0046] If the SOC value of the power battery pack 10 is lower than the low capacity threshold, the power battery pack 10 is about to be in a power-deficient state and is not suitable to be powered by the power battery pack 10 alone. Therefore, regardless of whether it is in a low demand state, an increased demand state or a high demand state, the main control unit 30 controls the range extender to start generating electricity, and charges the power battery pack 10 while supplying power to the electrical components, so as to recover and store the electric energy of the range extender while maintaining sufficient capacity of the power battery pack 10.

[0047] Furthermore, the power battery pack 10 and the range extender unit 20 are also connected to a power synthesis drive module 40, which is connected to the main control unit 30 and is used to provide driving power to the electrical components. The power synthesis drive module 40 can adopt an existing integrated module. The power synthesis drive module 40 can process the electric energy of the power battery pack 10 and the range extender unit to effectively supply power to the electrical components.

[0048] At the same time, the power synthesis drive module 40 is also connected to a power output module, which includes an AC output module 51, a DC output module 52 and a hydraulic drive output module 53. The AC output module 51 may, for example, include an AC220 module and an AC380 module after filtered power supply processing, and the DC output module 52 may, for example, include a DC540 module, so as to meet the needs of different power usage scenarios.

[0049] The main control unit 30 is also connected to a display module 31 for displaying the current power usage status of the power battery pack. The display module 31 may be, for example, a liquid crystal display, a touch screen, etc. The display module 31 enables an operator to view the current power usage status in real time.

[0050] When the drilling rig uses electricity, due to different output powers required for different electricity demands, the electricity demand is less in the low demand state. When the power battery pack 10 is fully charged, there is enough electric energy to supply the power-consuming components. At this time, the power battery pack 10 alone provides electric energy to the power-consuming components, so that there is no need to start the entire power generation system when the power demand is small, and the corresponding output power can be provided according to the electricity demand, without using the power exceeding the usage target, which can effectively save energy; when the electricity demand increases, it enters the increased demand state, and the main control unit 30 determines the capacity state of the power battery pack 10 to determine whether it is necessary to start the range extender 20 for power replenishment, and adjusts its power generation power in real time when the range extender 20 is started, so as to achieve more economical energy supply; when the electricity demand is high and in the high demand state, the main control unit 30 controls the power battery pack 10 and the range extender 20 to supply power to the power-consuming components at the same time, so that the power of the range extender 20 can be more controllable, and it can achieve high-horsepower power processing in the low-power state, so as to achieve the purpose of saving fuel.

[0051] In actual use, since most of the electricity demand is in the form of a curve that alternates between high and low, rather than a linear constant power demand, a large portion of the electric energy will be wasted in the process of alternating power demand. The present invention, through the coordinated control of the power battery pack 10 and the range extender unit 20, can recover and store the electric energy during the switching process from high to low electricity demand, thereby improving the effective power of the fuel-fired power generation of the range extender unit 20 and effectively achieving energy-saving effects.

[0052] A second aspect of an embodiment of the present invention provides a mobile extended-range hybrid control method, the method being implemented based on the control system as described in the first aspect, comprising:

[0053] S100 , obtaining the SOC value of the power battery pack 10 , and determining whether the SOC value is lower than a low capacity threshold, wherein the low capacity threshold may be set to the SOC value of the power battery pack 10 reaching 20%-30%.

[0054] S200. If not, when the electricity demand is in a low demand state, control the power battery pack 10 to provide power to the electrical components of the drilling rig alone; when the electricity demand is in an increased demand state, control the range extender unit 20 to dynamically start according to the capacity state of the power battery pack 10 and adjust the power generation power of the range extender unit 20 in real time to match the electricity demand; when the electricity demand is in a high demand state, control the power battery pack 10 and the range extender unit 20 to provide power to the electrical components of the drilling rig at the same time.

[0055] Specifically, in the low demand state, the electric power consumption is less than the total battery output power and is in a basically stable state. The basically stable state may be, for example, that the fluctuation range of the electric power consumption does not exceed 5%; in the increased demand state, the electric power consumption is in an increasing state; in the high demand state, the electric power consumption is greater than the total battery output power and is in a basically stable state. Similarly, the basically stable state may be, for example, that the fluctuation range of the electric power consumption does not exceed 5%.

[0056] In the increased demand state, when the SOC value of the power battery pack 10 is 30%-85%, the range extender 20 is controlled to start. This capacity stage is the most economical power generation range of the range extender. If the SOC value of the power battery pack 10 is 85%-100%, the main control unit 30 maintains control to be powered by the power battery pack 10 alone. If the SOC value of the power battery pack 10 is 30%-85%, the main control unit 30 controls the range extender 20 to start and adjusts the opening of the engine throttle according to the power demand.

[0057] S300: If yes, the power battery pack 10 and the range extender 20 are controlled to run simultaneously, and the range extender 20 charges the power battery pack 10 while providing electric energy to the electrical components of the drilling rig.

[0058] If the SOC value of the power battery pack 10 is lower than the low capacity threshold, the power battery pack 10 is about to be in a power-deficient state and is not suitable to be powered by the power battery pack 10 alone. Therefore, regardless of whether it is in a low demand state, an increased demand state or a high demand state, the main control unit 30 controls the range extender to start generating electricity, and charges the power battery pack 10 while supplying power to the electrical components, so as to recover and store the electric energy of the range extender while maintaining sufficient capacity of the power battery pack 10.

[0059] Based on the control method, when the drilling rig uses electricity, due to different output powers required for different electricity demands, the electricity demand is less in the low demand state. When the power battery pack 10 is fully charged, there is enough electric energy to supply the power-consuming components. At this time, the power battery pack 10 alone provides electric energy to the power-consuming components, so that there is no need to start the entire power generation system when the power demand is small, and the corresponding output power can be provided according to the electricity demand without using power exceeding the usage target, which can effectively save energy; when the electricity demand increases, it enters the increased demand state, and the main control unit 30 determines the capacity state of the power battery pack 10 to determine whether it is necessary to start the range extender 20 for power replenishment, and adjusts its power generation power in real time when the range extender 20 is started, so as to achieve more economical energy supply; when the electricity demand is high and in the high demand state, the main control unit 30 controls the power battery pack 10 and the range extender 20 to supply power to the power-consuming components at the same time, so that the power of the range extender 20 can be more controllable, and it can achieve high-horsepower power processing in a low-power state, so as to achieve the purpose of saving fuel.

[0060] A third aspect of an embodiment of the present invention provides a controller, such as Figure 2 As shown, it includes a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the control method described in the second aspect.

[0061] According to the controller implemented in the present invention, through the aforementioned mobile extended-range hybrid control method, it is possible to provide corresponding output power according to different electricity demands without using power that exceeds the usage target, which can effectively save energy, and can adjust the power generation power of the range-extended unit in real time to achieve more economical energy supply, and make the power of the range-extended unit more controllable, and can achieve high-horsepower power processing under low-power conditions, thereby achieving the purpose of saving fuel.

[0062] A fourth aspect of an embodiment of the present invention provides a storage medium storing computer-readable instructions, which, when executed by one or more processors, enables the one or more processors to perform the steps of the control method described in the fourth aspect.

[0063] It should be noted that the logic and / or steps described above, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any storage medium for use by an instruction execution system, device or equipment (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or equipment and execute instructions), or in combination with these instruction execution systems, devices or equipment. In this embodiment, the "storage medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or equipment, or in combination with these instruction execution systems, devices or equipment. More specific examples of storage media may include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the storage medium may even be paper or other suitable medium on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in the storage medium.

[0064] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0065] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which are equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of them belong to the protection scope of the present invention.

Claims

1. A mobile extended-range hybrid power control system, characterized in that: include: Power battery pack, used to directly provide driving power to the electrical components of the drilling rig; The range extender unit is used to consume fuel to generate electrical energy to provide driving power to the electrical components of the drilling rig; A main control unit, wherein the main control unit is configured as: Obtaining an SOC value of the power battery pack, and determining whether the SOC value is lower than a low capacity threshold; If not, when the power demand is in a low demand state, control the power battery pack to provide power to the power components of the drilling rig alone; when the power demand is in an increased demand state, control the range extender to dynamically start and adjust the power generation of the range extender in real time to match the power demand according to the capacity state of the power battery pack; when the power demand is in a high demand state, control the power battery pack and the range extender to provide power to the power components of the drilling rig at the same time; If so, the power battery pack and the range extender are controlled to run simultaneously, and the range extender charges the power battery pack while providing electrical energy to the electrical components of the drilling rig.

2. The mobile extended-range hybrid control system according to claim 1, characterized in that: In the low demand state, the power consumption is less than the total battery output power and is in a basically stable state; in the increased demand state, the power consumption is increasing; in the high demand state, the power consumption is greater than the total battery output power and is in a basically stable state.

3. The mobile extended-range hybrid control system according to claim 1 or 2, characterized in that: The power battery pack and the range extender are also connected to a power synthesis drive module, which is connected to the main control unit and is used to provide driving power to electrical components.

4. The mobile extended-range hybrid control system according to claim 3, characterized in that: The power synthesis drive module is also connected to a power output module, and the power output module includes an AC output module, a DC output module and a hydraulic drive output module.

5. The mobile extended-range hybrid control system according to claim 1, characterized in that: The range extender unit includes an engine and a generator, and the main control unit is further configured to: during the start-up of the range extender unit, control the throttle of the engine to adjust the opening size according to the power demand and the capacity status of the power battery pack.

6. The mobile extended-range hybrid control system according to claim 1, characterized in that: In the increased demand state, when the SOC value of the power battery pack is 30%-85%, the range extender unit is controlled to start.

7. The mobile extended-range hybrid control system according to claim 1, characterized in that: The main control unit is also connected to a display module for displaying the current power consumption status of the power battery pack.

8. A mobile extended-range hybrid control method, characterized in that: The method is implemented based on a control system according to any one of claims 1 to 7, comprising: Obtaining an SOC value of the power battery pack, and determining whether the SOC value is lower than a low capacity threshold; If not, when the power demand is in a low demand state, control the power battery pack to provide power to the power components of the drilling rig alone; when the power demand is in an increased demand state, control the range extender to dynamically start according to the capacity state of the power battery pack and adjust the power generation of the range extender in real time to match the power demand; when the power demand is in a high demand state, control the power battery pack and the range extender to provide power to the power components of the drilling rig at the same time; If so, the power battery pack and the range extender are controlled to run simultaneously, and the range extender charges the power battery pack while providing electrical energy to the electrical components of the drilling rig.

9. A controller, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the control method as claimed in claim 8. 10 . A storage medium storing computer-readable instructions, wherein when the computer-readable instructions are executed by one or more processors, the one or more processors are caused to perform the steps of the control method according to claim 8 .

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