A composite material discharge adaptive control method and system

Abstract

The present invention relates to the field of adaptive control technology, and discloses a composite material discharge adaptive control method and system, including a method and system for adaptively controlling the discharge amount of each raw material according to a preset discharge amount of each raw material. M i Calculate and control the first adaptive angle of the corresponding container α i To control the pre-discharge volume; control each container to continue to rotate the corresponding first adaptive angle α i Perform pre-ejection and calculate the corresponding second adaptive angle during the pre-ejection process β i After the pre-discharge is completed, each container is controlled to continue to rotate to the corresponding second adaptive angle β i Perform compensation discharge; after the compensation discharge is completed, the angle parameter of the container at this time is used as the initial deflection angle for the next discharge i i The present invention can adaptively adjust the container rotation angle in two discharge processes, solving the problem of difficulty in accurately adjusting the discharge volume.

Description

Technical Field

[0001] The present invention relates to the field of adaptive control technology, and in particular to a composite material discharge adaptive control method and system. Background Art

[0002] In some seasoning processing techniques, it is necessary to discharge a variety of raw materials according to a specified specific gravity. Chinese patent CN201810321159.1 discloses an intelligent seasoning box that discharges materials according to a unit discharge amount and a control method thereof, wherein the seasoning box includes: a storage box, a switch is provided at the bottom of the storage box, and each time the switch is turned on, the storage box discharges materials according to the unit discharge amount; a receiving box, the receiving box is provided below the storage box, and is used to receive the material discharged from the storage box; a controller, connected to the switch of the storage box, is used to obtain the discharge parameters, and control the switch of the storage box in the seasoning box according to the discharge parameters and the unit discharge amount, wherein the discharge parameters include at least: the type of seasoning and the amount of seasoning used. It solves the technical problem of the low intelligence level of the seasoning box in the prior art and the inability to accurately discharge materials.

[0003] The existing raw material discharge control method has the following problems: the material can only be discharged according to the unit discharge amount, the raw material discharge process cannot be adaptively adjusted, and it is difficult to accurately adjust the discharge amount.

[0004] Based on the above situation, a composite material discharge method and system are urgently needed to solve the problem of difficulty in accurately adjusting the discharge volume. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem of difficulty in accurately adjusting the discharge volume in the existing raw material discharge control method, which can only discharge according to the unit discharge volume, and the raw material discharge process cannot be adaptively adjusted, and it is difficult to accurately adjust the discharge volume.

[0006] The technical solutions of the present invention are as follows:

[0007] In one aspect, the present invention provides a method for adaptively controlling the discharge rate of composite materials, comprising:

[0008] use n Column-shaped containers store n kinds of raw materials;

[0009] Control each container to rotate independently, and collect the angle parameters of each container when it is just discharging as the corresponding initial deflection angle θ i ;

[0010] According to the preset discharge volume of each raw material M i Calculate the first adaptive angle of the corresponding container α i To control the pre-discharge volume;

[0011] Control each container to continue rotating to the corresponding first adaptive angle α i Perform pre-ejection and calculate the corresponding second adaptive angle during the pre-ejection process β i ;

[0012] After the pre-discharge is completed, each container is controlled to continue to rotate to the corresponding second adaptive angle β i Perform compensation discharge;

[0013] After the compensation discharge is completed, the angle parameter of the container at this time is used as the initial deflection angle for the next discharge θ i ,

[0014] in n is a positive integer, i =1, 2, 3... n , the angle parameter of the container is the angle between the container and the vertical direction.

[0015] The existing raw material discharge control method can only discharge materials according to the unit discharge amount. The discharge process of the raw materials cannot be adaptively adjusted, and it is difficult to accurately adjust the discharge amount. In this solution, by controlling the corresponding container to rotate the first adaptive angle α i Perform pre-discharge. Since the actual discharge volume is less than the theoretical value, the second adaptive angle is calculated during the pre-discharge process. β i , and control the container to continue rotating to the second adaptive angle β i To compensate for the discharge, the actual discharge volume is closer to the theoretical value. The container rotation angle can be adaptively adjusted during the two discharge processes, solving the problem of difficulty in accurately adjusting the discharge volume.

[0016] Furthermore, in order to facilitate data modeling, one feasible solution is: according to the preset discharge amount of each raw material M i Calculate the first adaptive angle of the corresponding container α i To control the pre-discharge volume, including:

[0017] The rectangular coordinate system is established with the opening plane of the container, and the width direction of the container is used as the x axis;

[0018] Perform polynomial fitting on the inner wall of the container opening to obtain the first parameter y 1 ( x ) and the second parameter y 2 (x );

[0019] By the first parameter y 1 ( x ) and the second parameter y 2 ( x ) Calculate the first adaptive angle α i ,

[0020] When this solution is adopted, the flexibility of the polynomial function can adapt to complex container opening data, thereby making the first adaptive angle α i and the second adaptive angle β i The calculation structure is more accurate, making the discharge amount of raw materials more precise.

[0021] Furthermore, the polynomial fitting is performed on the inner wall of the container opening to obtain the first parameter y 1 ( x ) and the second parameter y 2 ( x ),include:

[0022] Dividing the inner wall of the container opening into an upper edge line and a lower edge line;

[0023] Select a set of feature coordinates on the upper edge line and the lower edge line respectively;

[0024] Calculate the fitting curve of the lower edge line as the first parameter based on the two sets of characteristic coordinates y 1 ( x ), calculate the fitting curve of the upper edge line as the second parameter y 2 ( x ).

[0025] Furthermore, the first parameter y 1 ( x ) and the second parameter y 2 ( x ) Calculate the first adaptive angle α i ,include:

[0026] like , then the first adaptive angle is calculated by the following formula α i :

[0027] ;

[0028] like , then the first adaptive angle is calculated by the following formula α i :

[0029] ;

[0030] In other cases, the first adaptive angle is calculated by the following formula: α i :

[0031] ;

[0032] in For the i The density of the raw material in the container, is the width of the inner wall of the container, and h is the depth of the container.

[0033] When this solution is adopted, it can adapt to the above three discharge situations and calculate the first adaptive angle by the corresponding formula α i .

[0034] Furthermore, during the pre-discharge process, the container is controlled to stand still for k times and the container and the raw materials inside the container are weighed, and the deflection angle parameters of the container when it is standing still are collected. γ j and the corresponding weight parameters M j , calculate the second adaptive angle based on the first weighing data β i , starting from the second weighing, the second adaptive angle β i The value of is iteratively corrected, j =1, 2, 3…k.

[0035] When this solution is adopted, k data are collected and the second adaptive angle is β i The value of k-1 iterations can improve the second adaptive angle β i The accuracy of the discharge volume is more precise.

[0036] Furthermore, in order to reduce the impact of the discharge environment on the discharge volume, one feasible solution is to control the container to vibrate at a preset frequency and amplitude during the rotation of the container. When this solution is adopted, by controlling the discharge environment variables of the container to be the same, the impact of the discharge environment on the discharge volume can be reduced, thereby making the discharge volume more accurate.

[0037] Furthermore, in order to ensure that the amount of raw materials remaining in the container can meet the preset discharge amount for the next discharge, , after the compensation discharge is completed, if , that is, the amount of raw materials remaining in the container is less than the preset discharge amount for the next discharge , then replenish the raw materials in the container and re-determine the initial deflection angle θ i ,in The preset discharge volume for the next discharge. For the i The density of the raw material in the container.

[0038] On the other hand, the present invention further provides a composite material discharge rate adaptive control system for executing the above composite material discharge rate adaptive control method, comprising:

[0039] Several rotation modules are connected and independently control the rotation angle of corresponding containers to adjust the discharge volume. The rotation modules are also used to measure and record the angle between the corresponding container and the vertical direction;

[0040] A calculation module is connected to the rotation module and is used to calculate the preset discharge amount of each raw material. M i Calculate the first adaptive angle of the corresponding container α i , and is also used to calculate the second adaptive angle corresponding to each container during the pre-discharge process β i .

[0041] When this solution is adopted, the first adaptive angle is calculated by the calculation module α i and the second adaptive angle β i , and controls the rotation module to drive the container to rotate the first adaptive angle α i To perform pre-ejection, continue to rotate the second adaptive angle β i In order to compensate for the discharge, the actual discharge volume can be adaptively adjusted to make the actual discharge volume closer to the theoretical value.

[0042] Furthermore, in order to facilitate the collection of weight parameters of the container and the internal raw materials, one feasible solution is: the rotation module is connected to a weighing module, the weighing module is used to collect the weight parameters of the container and the internal raw materials, and the calculation module is communicated with the weighing module. When this solution is adopted, it is convenient to calculate the second adaptive angle through the weight parameters. β i .

[0043] Furthermore, the container is connected to a vibration module, which is used to control the container to vibrate at a preset frequency and amplitude. When this solution is adopted, under the action of the vibration module, the discharge environment variables of the container can be controlled to be the same, so as to reduce the impact of the discharge environment on the discharge volume, thereby making the discharge volume more accurate.

[0044] Compared with the existing technology, the beneficial effects of the present invention are:

[0045] 1. Control the corresponding container to rotate to the first adaptive angle α i Perform pre-discharge. Since the actual discharge volume is less than the theoretical value, the second adaptive angle is calculated during the pre-discharge process. β i , and control the container to continue rotating to the second adaptive angle β i To compensate for discharge, the actual discharge volume is closer to the theoretical value. The container rotation angle can be adaptively adjusted during the two discharge processes, solving the problem of difficult to accurately adjust the discharge volume.

[0046] 2. During the pre-discharge process, the container is controlled to stand still k times and the container and the raw materials inside the container are weighed, and the deflection angle parameter γ of the container when it is standing still is collected. j and the corresponding weight parameters M j , calculate the second adaptive angle based on the first weighing data β i , starting from the second weighing, the second adaptive angle β i The value of is iteratively corrected, j =1, 2, 3…k.

[0047] By collecting k data and adjusting the second adaptive angle β i The value of k-1 iterations can improve the second adaptive angle β i Accuracy, thus making the discharge more precise;

[0048] Third, since the container is controlled to vibrate at a preset frequency and amplitude during the container rotation process, the discharge environment variables of the container are controlled to be the same, which can reduce the influence of the discharge environment on the discharge volume, thereby making the discharge volume more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A flow chart of a composite material discharge adaptive control method provided in Example 1 of the present invention;

[0050] Figure 2 A first adaptive angle calculation flow chart provided in Example 1 of the present invention;

[0051] Figure 3 A flow chart for calculating the first and second parameters provided in Example 1 of the present invention;

[0052] Figure 4 A schematic flow chart of a composite material discharge adaptive control method provided in Example 2 of the present invention.

[0053] Reference numerals:

[0054] 100, rotation module; 200, calculation module; 300, weighing module. DETAILED DESCRIPTION

[0055] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or apparatus comprising the element.

[0056] The features and performance of the present invention are further described in detail below with reference to the embodiments.

[0057] Example 1:

[0058] Please refer to Figure 1 , a composite material discharge adaptive control method, comprising:

[0059] S100, using n Column-shaped containers store n kinds of raw materials;

[0060] S200, control each container to rotate independently, and collect the angle parameters of each container when it is just unloading as the corresponding initial deflection angle θ i ;

[0061] S300, according to the preset discharge volume of each raw material M i Calculate the first adaptive angle of the corresponding container α i To control the pre-discharge volume;

[0062] S400: Control each container to continue rotating to the corresponding first adaptive angle α i Perform pre-ejection and calculate the corresponding second adaptive angle during the pre-ejection process βi ;

[0063] S500: After the pre-discharge is completed, each container is controlled to continue rotating to the corresponding second adaptive angle β i Perform compensation discharge;

[0064] S600: After the compensation discharge is completed, the angle parameter of the container at this time is used as the initial deflection angle for the next discharge θ i ,

[0065] in n is a positive integer, i =1, 2, 3... n , the angle parameter of the container is the angle between the container and the vertical direction.

[0066] The existing raw material discharge control method can only discharge materials according to the unit discharge amount. The discharge process of the raw materials cannot be adaptively adjusted, and it is difficult to accurately adjust the discharge amount. In this solution, by controlling the corresponding container to rotate the first adaptive angle α i Perform pre-discharge. Since the actual discharge volume is less than the theoretical value, the second adaptive angle is calculated during the pre-discharge process. β i , and control the container to continue rotating to the second adaptive angle β i To compensate for the discharge, the actual discharge volume is closer to the theoretical value. The container rotation angle can be adaptively adjusted during the two discharge processes, solving the problem of difficulty in accurately adjusting the discharge volume.

[0067] Reference Figure 2 In order to facilitate data modeling, one feasible solution is: S300, according to the preset discharge volume of each raw material M i Calculate the first adaptive angle of the corresponding container α i To control the pre-discharge volume, including:

[0068] S310, establish a plane rectangular coordinate system with the opening plane of the container, and use the width direction of the container as x axis;

[0069] S320: Perform polynomial fitting on the inner wall of the container opening to obtain a first parameter y 1 ( x ) and the second parameter y 2 ( x );

[0070] S330, by the first parameter y 1 ( x) and the second parameter y 2 ( x ) Calculate the first adaptive angle α i ,

[0071] When this solution is adopted, the flexibility of the polynomial function can adapt to complex container opening data, thereby making the first adaptive angle α i and the second adaptive angle β i The calculation structure is more accurate, making the discharge amount of raw materials more precise.

[0072] Reference Figure 3 , S320, perform polynomial fitting on the inner wall of the container opening to obtain the first parameter y 1 ( x ) and the second parameter y 2 ( x ),include:

[0073] S321, dividing the inner wall of the container opening into an upper edge line and a lower edge line;

[0074] S322, selecting a set of feature coordinates on the upper edge line and the lower edge line;

[0075] S323, calculating the fitting curve of the lower edge line according to the two sets of characteristic coordinates as the first parameter y 1 ( x ), calculate the fitting curve of the upper edge line as the second parameter y 2 ( x ).

[0076] S234, by the first parameter y 1 ( x ) and the second parameter y 2 ( x ) Calculate the first adaptive angle α i ,include:

[0077] like , recorded as case A (for example, case A means that after the material is discharged, the remaining material is greater than half of the container volume), then the first adaptive angle is calculated by the following formula α i :

[0078] ;

[0079] like , recorded as case B (for example, case B means that the remaining material is less than half of the container volume before the material is discharged), then the first adaptive angle is calculated by the following formula αi :

[0080] ;

[0081] The remaining cases are recorded as case C (for example, case C means that before the material is discharged, the remaining material is greater than half of the container volume, and after the material is discharged, the remaining material is less than half of the container volume), and the first adaptive angle is calculated by the following formula: α i :

[0082] ;

[0083] in For the i The density of the raw material in the container, is the width of the inner wall of the container, and h is the depth of the container.

[0084] When this solution is adopted, it can adapt to the above three discharge situations and calculate the first adaptive angle by the corresponding formula α i .

[0085] During the pre-discharge process, the container is controlled to stand still for k times and the container and the raw materials inside the container are weighed, and the deflection angle parameters of the container when it is standing still are collected. γ j and the corresponding weight parameters M j , calculate the second adaptive angle based on the first weighing data β i , starting from the second weighing, the second adaptive angle β i The value of is iteratively corrected, j =1, 2, 3…k.

[0086] This solution does not uniquely limit the second adaptive angle β i A specific calculation method for , one of the feasible solutions is:

[0087] If it is case A, the second adaptive angle is calculated by the following formula β i :

[0088] ;

[0089] in M 0 is the weight parameter of the container itself.

[0090] If it is case B, the second adaptive angle is calculated by the following formula β i :

[0091] ;

[0092] In case C, if , then use the formula in case A to calculate the second adaptive angle β i :

[0093] ;

[0094] like and , then use the formula in case B to calculate the second adaptive angle β i :

[0095] .

[0096] When this solution is adopted, the second adaptive angle corresponding to the above three situations can be adaptively calculated β i ,rounding and It can save computing power by eliminating the complex calculation process in the case of failure.

[0097] This solution does not uniquely limit the second adaptive angle β i An iterative correction method is used, in which a feasible solution is to set the second adaptive angle β i The value of is corrected to ,in β 0 is the second adaptive angle calculated after the last weighing, e To correct the parameters, , e The larger the value is, the greater the influence of the previous weighing data is.

[0098] When this solution is adopted, k data are collected and the second adaptive angle is β i The value of k-1 iterations can improve the second adaptive angle β i The accuracy of the discharge volume is more precise.

[0099] In order to reduce the impact of the discharge environment on the discharge volume, one feasible solution is to control the container to vibrate at a preset frequency and amplitude during the container rotation process. When this solution is adopted, the discharge environment variables of the container are controlled to be the same, which can reduce the impact of the discharge environment on the discharge volume and thus make the discharge volume more accurate. Specifically, for the same raw material, when the environmental variables are the same, the second adaptive angle βi It should converge to a constant after multiple iterations. As the number of discharges increases, the k value is reduced to improve the discharge efficiency of the raw materials.

[0100] In order to ensure that the amount of raw materials remaining in the container can meet the preset discharge volume for the next discharge , after the compensation discharge is completed, if , that is, the amount of raw materials remaining in the container is less than the preset discharge amount for the next discharge , then replenish the raw materials in the container and re-determine the initial deflection angle θ i ,in The preset discharge volume for the next discharge. For the i The density of the raw material in the container.

[0101] Example 2:

[0102] Reference Figure 4 A composite material discharge rate adaptive control system, used to implement the above composite material discharge rate adaptive control method, comprising:

[0103] Several rotation modules 100 are connected and independently control the rotation angle of corresponding containers to adjust the discharge volume. The rotation modules are also used to measure and record the angle between the corresponding container and the vertical direction;

[0104] The calculation module 200 is connected to the rotation module 100 and is used to calculate the preset discharge amount of each raw material. M i Calculate the first adaptive angle of the corresponding container α i , and is also used to calculate the second adaptive angle corresponding to each container during the pre-discharge process β i .

[0105] When this solution is adopted, the first adaptive angle is calculated by the calculation module α i and the second adaptive angle β i , and controls the rotation module to drive the container to rotate the first adaptive angle α i To perform pre-ejection, continue to rotate the second adaptive angle β i In order to compensate for the discharge, the actual discharge volume can be adaptively adjusted to make the actual discharge volume closer to the theoretical value.

[0106] In order to facilitate the collection of weight parameters of the container and the internal raw materials, one feasible solution is: the rotation module 100 is connected to the weighing module 300, the weighing module 300 is used to collect the weight parameters of the container and the internal raw materials, and the calculation module 200 is communicated with the weighing module 300. When this solution is adopted, it is convenient to calculate the second adaptive angle through the weight parameters. β i .

[0107] The container is connected to a vibration module, which is used to control the container to vibrate at a preset frequency and amplitude. When this solution is adopted, under the action of the vibration module, the discharge environment variables of the container can be controlled to be the same, so as to reduce the impact of the discharge environment on the discharge volume, thereby making the discharge volume more accurate.

[0108] In order to solve the problem of difficulty in accurately adjusting the discharge volume, in this solution, the corresponding container is controlled to rotate the first adaptive angle. α i Perform pre-discharge. Since the actual discharge volume is less than the theoretical value, the second adaptive angle is calculated during the pre-discharge process. β i , and control the container to continue rotating to the second adaptive angle β i To compensate for the discharge, the actual discharge volume is closer to the theoretical value. The container rotation angle can be adaptively adjusted during the two discharge processes, solving the problem of difficulty in accurately adjusting the discharge volume.

[0109] In order to improve the second adaptive angle β i In this solution, during the pre-discharge process, the container is controlled to stand still k times and the container and the raw materials inside the container are weighed, and the deflection angle parameters of the container when it is standing still are collected. γ j and the corresponding weight parameters M j , calculate the second adaptive angle based on the first weighing data β i , starting from the second weighing, the second adaptive angle β i The value of is iteratively corrected, where j=1, 2, 3...k.

[0110] By collecting k data and adjusting the second adaptive angle β i The value of k-1 iterations can improve the second adaptive angle β i The accuracy of the discharge volume is more precise.

[0111] In order to reduce the impact of the discharge environment on the discharge volume, in this solution, since the container is controlled to vibrate with a preset frequency and preset amplitude during the rotation of the container, the impact of the discharge environment on the discharge volume can be reduced by controlling the discharge environment variables of the container to be the same, thereby making the discharge volume more accurate.

[0112] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A composite material discharge adaptive control method, characterized in that: include: use n Column-shaped containers store n kinds of raw materials; Control each container to rotate independently, and collect the angle parameters of each container when it is just discharging as the corresponding initial deflection angle θ i ; According to the preset discharge volume of each raw material M i Calculate the first adaptive angle of the corresponding container α i To control the pre-discharge volume; Control each container to continue rotating to the corresponding first adaptive angle α i Perform pre-ejection and calculate the corresponding second adaptive angle during the pre-ejection process β i ; After the pre-discharge is completed, each container is controlled to continue to rotate to the corresponding second adaptive angle β i Perform compensation discharge; After the compensation discharge is completed, the angle parameter of the container at this time is used as the initial deflection angle for the next discharge θ i ; The calculation corresponds to the first adaptive angle of the container α i ,include: like , then the first adaptive angle is calculated by the following formula α i : ； like , then the first adaptive angle is calculated by the following formula α i : ； In other cases, the first adaptive angle is calculated by the following formula: α i : ， in n is a positive integer, i =1, 2, 3... n , the angle parameter of the container is the angle between the container and the vertical direction, For the i The density of the raw material in the container, is the width of the inner wall of the container, h is the depth of the container, y 1 ( x ) is the first parameter, defined as the fitting curve of the upper edge line of the inner wall of the container opening, y 2 ( x ) is the second parameter, which is defined as the fitting curve of the lower edge line of the inner wall of the container opening.

2. A composite material discharge adaptive control method according to claim 1, wherein the preset discharge amount of each raw material is M i Calculate the first adaptive angle of the corresponding container α i , characterized in that, include: The rectangular coordinate system is established with the opening plane of the container, and the width direction of the container is used as the x axis; Perform polynomial fitting on the inner wall of the container opening to obtain the first parameter y 1 ( x ) and the second parameter y 2 ( x ); By the first parameter y 1 ( x ) and the second parameter y 2 ( x ) Calculate the first adaptive angle α i ; The first parameter is obtained by performing polynomial fitting on the inner wall of the container opening y 1 ( x ) and the second parameter y 2 ( x ),include: Dividing the inner wall of the container opening into an upper edge line and a lower edge line; Select a set of feature coordinates on the upper edge line and the lower edge line respectively; Calculate the fitting curve of the lower edge line from two sets of characteristic coordinates y 1 ( x ), the fitting curve of the upper edge line y 2 ( x ).

3. The method for adaptively controlling the discharge rate of composite materials according to claim 1, characterized in that: During the pre-discharge process, the container is controlled to stand still for k times and the container and the raw materials inside the container are weighed, and the deflection angle parameters of the container when it is standing still are collected. γ j and the corresponding weight parameters M j , calculate the second adaptive angle based on the first weighing data β i , starting from the second weighing, the second adaptive angle β i The value of is iteratively corrected, j =1, 2, 3…k.

4. The method for adaptively controlling the discharge rate of composite materials according to claim 1, characterized in that: During the rotation of the container, the container is controlled to vibrate at a preset frequency and amplitude.

5. The method for adaptively controlling the discharge rate of composite materials according to claim 2, characterized in that: After the compensation discharge is completed, if , then replenish the raw materials in the container and re-determine the initial deflection angle θ i ,in The preset discharge volume for the next discharge. For the i The density of the material in a container, where h is the depth of the container.

6. A composite material discharge adaptive control system for executing a composite material discharge adaptive control method according to any one of claims 1 to 5, characterized in that: include: Several rotation modules are connected and independently control the rotation angle of corresponding containers to adjust the discharge volume. The rotation modules are also used to measure and record the angle between the corresponding container and the vertical direction; A calculation module is connected to the rotation module and is used to calculate the preset discharge amount of each raw material. M i Calculate the first adaptive angle of the corresponding container α i , and is also used to calculate the second adaptive angle corresponding to each container during the pre-discharge process β i .

7. The adaptive control system for composite material discharge according to claim 6, characterized in that: The rotating module is connected to a weighing module, and the weighing module is used to collect weight parameters of the container and the raw materials inside. The calculating module is in communication connection with the weighing module.

8. The adaptive control system for composite material discharge according to claim 6, characterized in that: The container is connected to a vibration module, and the vibration module is used to control the container to vibrate with a preset frequency and a preset amplitude.

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