Lime coagulation treatment effect real-time monitoring and regulation system and method based on multi-parameter fusion

Abstract

The invention discloses a lime coagulation treatment effect real-time monitoring and regulation system and method based on multi-parameter fusion, and belongs to the technical field of water treatment. The system disclosed by the invention comprises a data acquisition and analysis module, a data processing and evaluation module, an intelligent regulation and control module, an execution mechanism and a coagulation clarifier, the acquisition and analysis module is respectively connected with a water inlet / outlet of the coagulation clarifier and the reaction area; the acquisition and analysis module is electrically connected with the data processing and evaluation module, the intelligent regulation and control module and the execution mechanism in sequence; and the executing mechanism is arranged in the coagulation clarifier. According to the system disclosed by the invention, all the modules and parts have a synergistic effect, so that the technical problem that an existing monitoring system lacks multi-parameter coupling analysis and intelligent decision-making capabilities is solved.

Description

Technical Field

[0001] This invention belongs to the field of water treatment technology, specifically relating to a real-time monitoring and control system and method for lime coagulation treatment effect based on multi-parameter fusion. Background Technology

[0002] Thermal power plants are major water consumers, and under the dual pressures of increasing water scarcity and tightening environmental policies, the reuse of greywater has become an inevitable choice for the sustainable development of thermal power plants. Currently, the pretreatment of greywater in thermal power plants generally employs a lime-coagulation co-treatment process for advanced treatment. This involves adding lime to adjust the pH value and using coagulants to remove suspended solids, colloids, and some dissolved substances from the water. However, in actual operation, its treatment effect is easily affected by a combination of factors, such as fluctuations in raw water quality, reagent dosage (lime purity, coagulant hydrolysis degree), and key parameters such as process parameters (mixing intensity, flocculation time). Traditional single-factor control models are difficult to adapt to complex operating conditions.

[0003] Current industry standard monitoring methods mostly rely on manual sampling followed by laboratory analysis. This approach is time-consuming and cannot reflect changes during the treatment process in a timely manner, making it difficult to achieve dynamic and real-time control of the lime coagulation process. While some online monitoring devices exist, they often only monitor a single parameter and cannot comprehensively consider the combined effects of multiple factors on coagulation efficiency, leading to inaccurate control strategies. Relying on empirical formulas or single parameter feedback (such as pH) for lime dosage can easily result in wasteful chemical consumption (overdosing) or coagulation failure (underdosing). Fixed stirring intensity leads to a surge in energy consumption under high turbidity conditions and insufficient mixing under low turbidity conditions. Existing technologies (such as the Chinese patent application with publication number CN112279313A) have introduced online monitoring devices, but lack multi-parameter coupled analysis and intelligent decision-making capabilities, making it difficult to achieve synergistic optimization of "water quality-chemical consumption-energy consumption." Therefore, developing a multi-parameter integrated intelligent monitoring and dynamic control system has become a key path to overcome the industry's technological bottlenecks. Summary of the Invention

[0004] The purpose of this invention is to provide a real-time monitoring and control system and method for lime coagulation treatment based on multi-parameter fusion, which solves the technical problem that existing monitoring systems lack multi-parameter coupling analysis and intelligent decision-making capabilities.

[0005] To achieve the above objectives, the present invention employs the following technical solution: This invention discloses a real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion, comprising a data acquisition and analysis module, a data processing and evaluation module, an intelligent control module, an actuator, and a coagulation clarifier; the acquisition and analysis module is connected to the inlet and outlet of the coagulation clarifier and the reaction zone, respectively; the acquisition and analysis module is electrically connected to the data processing and evaluation module, the intelligent control module, and the actuator in sequence; the actuator is located inside the coagulation clarifier.

[0006] Furthermore, the data acquisition and analysis module includes a turbidity sensor, a pH sensor, an alkalinity sensor, a calcium hardness sensor, a conductivity sensor, a temperature sensor, a stirring speed sensor, and an imaging camera unit; The turbidity sensor, pH sensor, alkalinity sensor, calcium hardness sensor, conductivity sensor, temperature sensor, and stirring speed sensor are respectively installed at the inlet, reaction zone, and outlet of the coagulation clarifier. The imaging camera unit is located in the reaction zone inside the coagulation clarifier.

[0007] Furthermore, the imaging camera unit is a CMOS image sensor; the calcium hardness sensor is an ion-selective electrode, and the calcium ion concentration measurement range is 0-800 mg / L.

[0008] Furthermore, the data processing and evaluation module includes a data preprocessing unit and a multi-parameter fusion evaluation unit; the data preprocessing unit and the multi-parameter fusion evaluation unit are interconnected.

[0009] Furthermore, the multi-parameter fusion evaluation unit employs a pre-trained random forest regression model.

[0010] Furthermore, the pre-trained random forest regression model is obtained by training with historical data.

[0011] Furthermore, the intelligent control module includes a dynamic optimization controller and a control command generation unit.

[0012] Furthermore, the actuator includes a lime slurry dosing pump and a frequency converter; both the lime slurry dosing pump and the frequency converter are installed inside the coagulation clarifier.

[0013] Furthermore, the actuator also includes an ultrasonic dispersion device installed at the front end of the lime dosing pump; the frequency converter is made of 316 stainless steel and its surface is coated with a polytetrafluoroethylene anti-stick coating.

[0014] This invention also discloses a method for using the above-mentioned real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion, comprising the following steps: The acquisition and analysis module obtains water quality parameters and real-time image parameters of the reaction zone. The acquired parameters are initially integrated to obtain initial data. The initial data is then transmitted to the data processing and evaluation module for training and analysis, and outputs a comprehensive evaluation index of coagulation effect. Subsequently, the comprehensive evaluation index of coagulation effect is input to the intelligent control module to generate four-dimensional control commands, and the actuators are controlled to respond to the commands and make adjustments.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses a real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion. The system comprises a data acquisition and analysis module, a data processing and evaluation module, an intelligent control module, and an actuator. The data acquisition and analysis module monitors key parameters in real time and transmits the data to the data processing and evaluation module. The data processing and evaluation module processes and analyzes the data and feeds back the coagulation effect evaluation results to the intelligent control module. Based on the evaluation results and control strategies, the intelligent control module sends control commands to the actuator, adjusting the influent temperature, reagent dosage, permeate acid addition, and stirring intensity. This achieves real-time monitoring and precise control of the lime coagulation treatment effect, solving the technical problem of existing monitoring systems lacking multi-parameter coupled analysis and intelligent decision-making capabilities. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion according to the present invention. The module consists of: 1-Data acquisition and analysis module; 2-Data processing and evaluation module; 3-Intelligent control module; 4-Actuator; 5-Coagulation and clarification device; 6-Inlet water flow meter; 7-Heat exchanger. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] This invention discloses a real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion, comprising a data acquisition and analysis module 1, a data processing and evaluation module 2, an intelligent control module 3, an actuator 4, and a coagulation clarifier 5. The data acquisition and analysis module 1 is connected to the inlet and outlet of the coagulation clarifier 5 and the reaction zone, respectively. The data acquisition and analysis module 1 is electrically connected to the data processing and evaluation module 2, the intelligent control module 3, and the actuator 4 in sequence. The actuator 4 is located inside the coagulation clarifier 5. Through a closed-loop system of data acquisition, analysis, evaluation, and control, the lime coagulation process can be optimized in real time, improving the stability of the treatment effect. The various functional modules (data acquisition, processing, and execution) have clear division of labor, facilitating system expansion and maintenance. It covers multiple key nodes including the inlet, reaction zone, and outlet, ensuring that water quality changes are controllable throughout the process. It directly acts on the inside of the coagulation clarifier 5, with a fast control response speed, avoiding lag effects.

[0020] Preferably, the data acquisition and analysis module 1 includes a turbidity sensor, a pH sensor, an alkalinity sensor, a calcium hardness sensor, a conductivity sensor, a temperature sensor, a stirring speed sensor, and an imaging camera unit. The turbidity sensor, pH sensor, alkalinity sensor, calcium hardness sensor, conductivity sensor, temperature sensor, and stirring speed sensor are respectively installed at the inlet, reaction zone, and outlet of the coagulation clarifier 5. The imaging camera unit is installed in the reaction zone within the coagulation clarifier 5. Through multi-parameter collaborative monitoring, core water quality indicators are fully covered, accurately reflecting the coagulation effect, assisting in the evaluation of ion concentration and reaction kinetic conditions, monitoring mixing intensity, avoiding excessive or insufficient stirring, and intuitively capturing the floc formation state (such as particle size and density), thus overcoming the shortcomings of traditional sensors in acquiring morphological information.

[0021] Preferably, the imaging camera unit is a CMOS image sensor; the calcium hardness sensor is an ion-selective electrode, and the calcium ion concentration measurement range is 0-800 mg / L. The use of a CMOS image sensor has the advantages of high resolution, low power consumption, and suitability for long-term continuous imaging of floc dynamics in the reaction zone. The 0-800 mg / L range covers the typical calcium hardness range of water in thermal power plants, with good selectivity, strong anti-interference ability, and avoidance of Mg... 2+ Cross-influence of plasma.

[0022] Preferably, the data processing and evaluation module 2 includes a data preprocessing unit and a multi-parameter fusion evaluation unit; the data preprocessing unit and the multi-parameter fusion evaluation unit are interconnected; the data preprocessing unit can remove outliers and perform noise filtering (such as Kalman filtering) to improve data quality, and can standardize multi-source data (sensor values, image features) to facilitate fusion analysis.

[0023] Preferably, the multi-parameter fusion evaluation unit adopts a pre-trained random forest regression model. Random forests are good at handling nonlinear and high-dimensional data, and their prediction effect is better than that of traditional linear models, enabling high-precision prediction.

[0024] This invention also discloses a method for using the above-mentioned real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion, comprising the following steps: Water quality parameters (turbidity / pH / alkalinity / calcium hardness / conductivity / temperature / stirring speed) are simultaneously acquired by data acquisition and analysis module 1 (installed at the inlet, reaction zone, and outlet of coagulation clarifier 5). Image sensors within the reaction tank (reaction zone) capture real-time images of floc formation. All data streams are transmitted to data acquisition and analysis module 1 for initial integration. The data preprocessing unit cleans, denoises, and normalizes the raw data, then inputs the processed data to data processing and evaluation module 2 for training a random forest regression model. Simultaneously, image features (such as floc size and distribution density) are analyzed, and the model outputs a comprehensive coagulation effect evaluation index to intelligent control module 3. Intelligent control module 3 compares the comprehensive evaluation index with the target threshold and generates four-dimensional control commands, including lime dosage, stirring speed, inlet water temperature, and acid dosage. Finally, actuator 4 responds to the commands and adjusts the relevant indicators. After execution, closed-loop verification and model iteration are performed.

[0025] The present invention will now be described in further detail with reference to the accompanying drawings: See Figure 1As shown, this invention discloses a real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion, comprising: a data acquisition and analysis module 1, a data processing and evaluation module 2, an intelligent control module 3, and an actuator 4. The data acquisition and analysis module 1 monitors various key parameters in real time and transmits the data to the data processing and evaluation module 2. After processing and analyzing the data, the data processing and evaluation module 2 feeds back the coagulation effect evaluation results to the intelligent control module 3. Based on the evaluation results and control strategies, the intelligent control module 3 sends control commands to the actuator 4, which adjusts the influent temperature, reagent dosage, permeate acid addition, and stirring intensity, thereby achieving real-time monitoring and precise control of the lime coagulation treatment effect.

[0026] Preferably, the data acquisition and analysis module 1 includes a turbidity sensor, a pH sensor, an alkalinity sensor, a calcium hardness sensor, a conductivity sensor, a temperature sensor, and a stirring speed sensor installed at the inlet, reaction zone, and outlet of the coagulation reaction tank, as well as a high-speed imaging camera unit set in the transparent reaction tank, for real-time acquisition of inlet water temperature, reagent dosage, stirring intensity, effluent turbidity, and floc dynamic image data.

[0027] Preferably, the data processing and evaluation module 2 is communicatively connected to the data acquisition and analysis module 1, and includes: a data preprocessing unit for outlier removal, wavelet denoising, and normalization of the acquired data; and a multi-parameter fusion evaluation unit that uses a pre-trained random forest regression model, with input parameters including real-time pH value, alkalinity change rate ΔA, calcium hardness index, average diameter of flocs, turbidity contrast value, and fractal dimension D, and outputs a comprehensive coagulation efficiency score CE (range 0-100).

[0028] Preferably, the intelligent control module 3 includes: a dynamic optimization controller, which uses a constrained multi-objective particle swarm optimization algorithm to calculate the lime dosage correction coefficient α (0.8-1.2) and the stirring intensity correction coefficient β (0.5-1.5) in real time based on the deviation between the CE value and the target threshold (≥85); and a control command generation unit, which converts the correction coefficients into 4-20mA control signals.

[0029] Preferably, the actuator 4 includes: a lime slurry dosing pump, which receives control commands to adjust the dosing amount with a control accuracy of ±2%; a variable frequency agitator, which adjusts the rotation speed (50-300 rpm) according to the correction coefficient β to maintain the G value in the range of 20-150 s⁻¹; a sludge return proportional valve, which controls the return ratio (5-15%) based on the effluent turbidity feedback; and a heat exchanger 7 installed at the inlet of the coagulation clarifier 5, with an inlet flow meter 6 installed at the front end of the heat exchanger 7 for temperature and flow rate adjustment.

[0030] Preferably, the high-speed imaging camera unit in the data acquisition and analysis module 1 adopts a CMOS image sensor (120fps) and is equipped with an LED backlight module to achieve clear capture of floc contours; the calcium hardness sensor is an ion-selective electrode with a measurement range of 0-800mg / L, preferably 500mg / L (calculated as CaCO3), and is equipped with an automatic cleaning brush to prevent scaling.

[0031] Preferably, the random forest regression model is trained using historical data, and the input features also include: alkalinity / calcium hardness ratio, with a weight of 25%; floc settling velocity gradient, with a weight of 18%; and temperature compensation coefficient kT = 1 + 0.02(T - 25), with a weight of 12%. The criteria for determining the model output C value are as follows: C≥90: excellent operating status, maintain current parameters; 75≤C<90: trigger parameter fine-tuning; C<75: activate emergency control mode.

[0032] Preferably, the actuator 4 further includes: an ultrasonic dispersion device at the front end of the lime dosing pump; agitator blades made of 316 stainless steel with a polytetrafluoroethylene anti-stick coating; and an electromagnetic flow meter (accuracy class 0.5) and an online density meter (range 1.0-1.2 g / cm³) installed on the sludge return pipeline. 3 ).

[0033] Preferably, the data processing and evaluation module 2 performs data calibration with the physical system every 24 hours, predicts changes in operating conditions in the next 2 hours, and adjusts control parameters in advance.

[0034] This invention discloses a real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion. By comprehensively considering various factors affecting the coagulation effect through multi-parameter fusion technology, it effectively avoids control errors caused by the one-sidedness of a single parameter, thereby significantly improving the stability of lime coagulation treatment, reducing secondary water quality problems or subsequent treatment burdens caused by poor coagulation effects, and improving the overall operating efficiency and intelligence level of the water treatment system. This is of great significance for ensuring the efficient and stable operation of water treatment processes.

[0035] Furthermore, the data acquisition and analysis module 1 disclosed in this invention: Water quality parameter monitoring: An online multi-parameter water quality analyzer is installed at the inlet of coagulation clarifier 5 to monitor the raw water conductivity (range 0-2000μS / cm), temperature (-10~80℃), and pH value (accuracy ±0.1) in real time; a laser scattering turbidity meter (detection limit 0.01NTU) and a calcium ion selective electrode (accuracy ±0.5mg / L) are deployed at the outlet of the clarifier.

[0036] Floc morphology monitoring: The mixing zone is equipped with a high-speed microscopic imaging system (200fps) and uses an image segmentation algorithm to calculate the average particle size (10-500μm) and fractal dimension (accuracy ±0.05) of the flocs in real time.

[0037] Process parameter acquisition: The mixer frequency converter outputs a speed feedback signal (50-300 rpm), and the lime slurry dosing pump is equipped with a mass flow meter (accuracy ±0.5%FS).

[0038] Online monitoring instruments adapted to different monitoring parameters are selected, and data from each monitoring device are collected centrally through a data acquisition device and transmitted to the data processing and evaluation module 2 at a frequency of 5 minutes.

[0039] To monitor the mixing intensity, speed sensors, torque sensors, and other parameters are installed on the mixing equipment to obtain relevant parameter data during the mixing process, so as to reflect the sufficiency of mixing and the change in intensity.

[0040] Data Processing and Evaluation Module 2 Implementation: In the data processing section, the collected raw data is first preprocessed to remove obvious outliers and noise interference. For example, for turbidity data, the moving average algorithm is used to remove abrupt values ​​caused by short-term hydraulic fluctuations. Then, the parameters of different dimensions are normalized to map all parameter values ​​to the same range, which facilitates subsequent comprehensive analysis and comparison. Finally, the pre-trained deep neural network model is run.

[0041] In terms of constructing a multi-parameter fusion model, historical data is collected, covering the correspondence between various parameters and coagulation effects (measured by indicators such as effluent turbidity and removal rate) under different operating conditions. Machine learning algorithms (such as artificial neural networks) are used to train and learn the data to establish a nonlinear mapping relationship model between parameters and coagulation effects. During actual operation, the parameter data collected in real time is input into the model, which can quickly output the evaluation value of coagulation effect and the trend and degree of influence of each parameter on the coagulation effect. For example, when it is predicted that the turbidity value is increasing significantly and the pH value is alkaline and exceeds the suitable range, the model will indicate that it may be due to excessive lime addition causing flocs to break down and redisperse, and then issue timely control instructions.

[0042] Implementation of the control and execution module: Based on the assessment results, pre-set control strategies: Lime slurry dosing system: Equipped with dual-pump redundancy, dosing rate adjustment accuracy ±0.5L / min. Intelligent stirring device: Driven by a permanent magnet synchronous motor, speed response time <5s. Auxiliary control unit: Plate heat exchanger for water temperature adjustment (±1℃), sulfuric acid metering pump for controlling outlet water pH adjustment.

[0043] When the coagulation effect evaluation value is lower than the lower limit of the set threshold, it indicates that the coagulation effect is poor. At this time, according to the model analysis results, if the amount of lime added is insufficient, the lime dosing device is automatically controlled to increase the amount added. The specific increment is determined by setting a certain adjustment coefficient based on the influence of the model feedback and past experience. If the stirring intensity is insufficient, the speed or power of the stirring motor is adjusted to reach a suitable intensity range to enhance the mixing and stirring effect of the water and promote the coagulation reaction. At the same time, the changes in the adjusted parameters are monitored in real time to observe the improvement of the coagulation effect, forming a closed-loop feedback control mechanism until the coagulation effect reaches a stable standard that meets the requirements.

[0044] System integration and optimization adjustments: This system can also be linked with other related equipment in the water treatment system, such as the sludge removal system in the sedimentation tank of the pretreatment stage. When the sedimentation effect deteriorates after lime coagulation (such as the sludge level rising too fast), the automatic sludge removal operation of the sludge removal system is triggered to ensure the smooth and efficient operation of the entire water treatment process. Furthermore, the system operation data is analyzed and evaluated regularly, and the multi-parameter fusion model and control strategies are optimized and adjusted according to the actual operation to adapt to the long-term change trend of raw water quality and further improve the system performance and treatment effect.

[0045] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A real-time monitoring and control system for lime concrete coagulation treatment based on multi-parameter fusion, characterized in that, It includes a data acquisition and analysis module (1), a data processing and evaluation module (2), an intelligent control module (3), an actuator (4), and a coagulation clarifier (5); the data acquisition and analysis module (1) is connected to the inlet and outlet of the coagulation clarifier (5) and the reaction zone respectively; the data acquisition and analysis module (1) is electrically connected to the data processing and evaluation module (2), the intelligent control module (3), and the actuator (4) in sequence; the actuator (4) is located inside the coagulation clarifier (5).

2. The real-time monitoring and control system for lime coagulation treatment based on multi-parameter fusion as described in claim 1, characterized in that, The data acquisition and analysis module (1) includes a turbidity sensor, a pH sensor, an alkalinity sensor, a calcium hardness sensor, a conductivity sensor, a temperature sensor, a stirring speed sensor, and an imaging camera unit. The turbidity sensor, pH sensor, alkalinity sensor, calcium hardness sensor, conductivity sensor, temperature sensor, and stirring speed sensor are respectively installed at the inlet, reaction zone, and outlet of the coagulation clarifier (5); The imaging camera unit is located in the reaction zone inside the coagulation clarifyer (5).

3. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion as described in claim 2, characterized in that, The imaging camera unit is a CMOS image sensor; the calcium hardness sensor is an ion-selective electrode, and the calcium ion concentration measurement range is 0-800 mg / L.

4. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion as described in claim 1, characterized in that, The data processing and evaluation module (2) includes a data preprocessing unit and a multi-parameter fusion evaluation unit; the data preprocessing unit and the multi-parameter fusion evaluation unit are interconnected.

5. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion as described in claim 4, characterized in that, The multi-parameter fusion evaluation unit uses a pre-trained random forest regression model.

6. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion according to claim 4, characterized in that, The pre-trained random forest regression model was obtained by training on historical data.

7. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion according to claim 1, characterized in that, The intelligent control module (3) includes a dynamic optimization controller and a control instruction generation unit.

8. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion according to claim 1, characterized in that, The actuator (4) includes a lime slurry addition pump and a frequency converter; both the lime slurry addition pump and the frequency converter are installed inside the coagulation clarifier (5).

9. The real-time monitoring and control system for lime coagulation treatment effect based on multi-parameter fusion as described in claim 8, characterized in that, The actuator (4) also includes an ultrasonic dispersion device installed at the front end of the lime dosing pump and a heat exchanger (7) installed at the inlet of the coagulation clarifier (5); the variable frequency agitator is made of 316 stainless steel and coated with a polytetrafluoroethylene anti-stick coating.

10. A method for using the real-time monitoring and control system for lime concrete coagulation treatment based on multi-parameter fusion as described in any one of claims 1 to 9, characterized in that, Includes the following steps: The data acquisition and analysis module (1) acquires water quality parameters and real-time image parameters of the reaction zone. The acquired parameters are initially integrated to obtain initial data. The initial data is then transmitted to the data processing and evaluation module (2) for training and analysis, and outputs a comprehensive evaluation index of coagulation effect. Subsequently, the comprehensive evaluation index of coagulation effect is input to the intelligent control module (3) to generate four-dimensional control instructions, and the actuator (4) is controlled to respond to the instructions for adjustment and control.

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