High-precision constant-pitch full-automatic servo following system

Abstract

The application discloses a high-precision constant-interval full-automatic servo following system and relates to the technical field of glue scriber control. The high-precision constant-interval full-automatic servo following system comprises a control center, and the control center is connected with a data acquisition module, a data processing module, an interval analysis module, a constant-interval following module and an execution decision module. The standard running parameters of each position on the running route corresponding to each processing workpiece are acquired, parameter changes are judged, and the positions of the parameter changes are recorded as response nodes. Based on the response nodes and the adjustment required by the glue scriber according to the parameter changes, corresponding following points are generated, so that the glue scriber makes corresponding adjustment on the running power. According to the influence of the adjusted running power distribution on the running speed and the flow, the glue scriber can avoid that the flow difference between the nozzle flow and the required flow is too large when the running speed changes, and the processing process of the processing workpiece is flawed. The application improves the processing efficiency of the glue scriber and simultaneously reduces the defective rate of the processing workpiece.

Description

Technical Field

[0001] This invention relates to the field of glue-spreading machine control technology, specifically a high-precision constant-gap fully automatic servo-following system. Background Technology

[0002] In industrial production, it is crucial to maintain a constant glue spraying flow rate for glue dispensing machines. Early glue dispensing machines used manual adjustment to control the glue spraying flow rate, which was not only inefficient but also difficult to guarantee the stability and accuracy of the flow rate, resulting in inconsistent product quality.

[0003] In actual processing, when the amount of glue required for different positions in the product processing process needs to be adjusted, or when the running speed and direction of the glue applicator need to be adjusted, it is often necessary to control the glue applicator to accelerate or decelerate. This acceleration and deceleration process is often overlooked, resulting in the glue amount still being applied according to the previous step, thereby increasing the defect rate. How to eliminate the impact of this process and make the glue amount more compatible with the required glue amount is the problem we need to solve. To this end, we now provide a high-precision constant-gap fully automatic servo following system. Summary of the Invention

[0004] The purpose of this invention is to provide a high-precision, constant-gap, fully automatic servo-following system.

[0005] The objective of this invention can be achieved through the following technical solution: a high-precision constant-gap fully automatic servo following system, including a control center, wherein the control center is connected to a data acquisition module, a data processing module, a gap analysis module, a constant-gap following module, and an execution decision module;

[0006] The data acquisition module is used to acquire the operating parameters of the glue-spreading machine and the laser parameters;

[0007] The data processing module is used to simulate the operating conditions of the glue-spreading machine based on the obtained operating parameters and laser parameters;

[0008] The spacing analysis module is used to analyze the spacing between the nozzle of the glue-spreading machine and the workpiece based on the simulated operating conditions of the glue-spreading machine, and to determine whether the spacing between the nozzle of the glue-spreading machine and the workpiece meets the processing requirements.

[0009] The constant spacing following module is used to generate following points based on the simulated operating conditions of the glue-spreading machine, and to generate control commands for controlling the servo motor based on the following points.

[0010] The execution decision module is used to generate corresponding parameter adjustment strategies based on the generated control commands.

[0011] Furthermore, after the workpiece is placed in the designated position within the processing area, the glue applicator operates according to a fixed running route;

[0012] The starting point of the running route is taken as the reset point of the rubber cutting machine, and the running parameters and laser parameters of the rubber cutting machine are obtained from the reset point;

[0013] The running parameters include the running power, running direction, running speed, nozzle angle, and glue spraying flow of the servo motor.

[0014] Further, a coordinate system is established with the reset point of the rubber cutting machine as the origin, the real-time coordinate position of the nozzle of the rubber cutting machine is obtained, and the coordinate position is mapped into the coordinate system.

[0015] Meanwhile, a standard reference route is generated in the coordinate system according to the running route, and each position on the standard reference route corresponds to a standard coordinate position.

[0016] Further, the process of simulating the running conditions of the rubber cutting machine according to the obtained running parameters and laser parameters includes:

[0017] Each standard coordinate position on the standard reference route is marked, and each standard coordinate position is associated with corresponding standard running parameters, including standard running power, standard running speed, standard running direction, standard nozzle angle, standard distance, and standard nozzle flow.

[0018] Different simulation power variables are set, the standard running power is updated through the set different simulation power variables, the updated standard running power is recorded as the simulation power, and the corresponding standard running speed and standard nozzle flow under different simulation powers are obtained.

[0019] Further, the influence coefficient between the standard running power and the standard running speed and the influence coefficient between the standard running power and the standard nozzle flow are obtained.

[0020] Further, the process of analyzing the distance between the nozzle of the rubber cutting machine and the workpiece according to the simulated running conditions of the rubber cutting machine includes:

[0021] According to the obtained laser parameters, the processing distance between the nozzle of the rubber cutting machine and the workpiece is obtained.

[0022] The standard coordinate position corresponding to the nozzle at the reset point on the standard reference route is obtained, and the standard running direction, standard nozzle angle, and standard distance corresponding to the standard coordinate position are obtained.

[0023] The running direction, nozzle angle, and processing distance of the nozzle are compared with the standard running direction, standard nozzle angle, and standard distance, respectively.

[0024] If the nozzle's operating direction is inconsistent with the standard operating direction, adjust the nozzle's operating direction to make it consistent with the standard operating direction.

[0025] If the nozzle's running direction is consistent with the standard running direction, the difference between the processing distance and the standard spacing is obtained;

[0026] Set a distance threshold. If the obtained distance difference is less than or equal to the distance threshold, it means that the current nozzle's processing distance meets the processing requirements; otherwise, it means that it does not meet the processing requirements.

[0027] Furthermore, the process by which the constant-gap following module generates a following point based on the simulated operating conditions of the glue-spreading machine, and generates control commands for controlling the servo motor based on the following point includes:

[0028] Call the standard operating route corresponding to the workpiece in the processing area, as well as the standard operating parameters at each position on the standard operating route;

[0029] When at least one of the standard operating parameters changes, the corresponding position is marked as a response node, and the changed item in the standard operating parameters is recorded as a parameter response item. The parameter response item is associated with the response node, and the parameter change corresponding to the parameter response item is obtained. The parameter change includes speed change, angle change, flow rate change, and direction change.

[0030] If at least one of the parameter changes, namely the angle change and the direction change, is not zero, then the latest deceleration point at which the response node decelerates to zero is obtained based on the running speed.

[0031] The latest deceleration point is used as the following point, and the first power distribution adjustment command is generated.

[0032] When the angle change and direction change of the parameter change are both 0, the speed change is obtained. If it is 0, the flow rate change is obtained. The location of the response node is then used as the follow point, and a second power distribution adjustment command is generated.

[0033] If the speed change is not zero and the flow rate change is zero, the latest deceleration point to the response node is obtained, the latest deceleration point is used as the following point, and a third power distribution adjustment command is generated.

[0034] If both the speed change and the flow rate change are not zero, the latest deceleration point of the response node is obtained, the latest deceleration point is used as the following point, and the fourth power distribution adjustment command is generated.

[0035] Furthermore, the process by which the execution decision module generates a corresponding parameter adjustment strategy based on the generated control instructions includes:

[0036] When the first power distribution adjustment instruction is generated, the deceleration time required from the latest deceleration point to the response node is obtained, and the running speed change curve within the deceleration time is obtained;

[0037] The corresponding flow change curve is generated based on the running speed change curve; it should be noted that the change trend of the flow change curve is consistent with the running speed change curve;

[0038] According to the running speed change curve and the flow change curve, the corresponding running power change curve is obtained;

[0039] The time corresponding to the following point, and the running speed change curve, the flow change curve and the running power change curve between the following point and the response node are obtained as the parameter adjustment strategy corresponding to the first power distribution adjustment instruction;

[0040] When the second power distribution adjustment instruction is generated, the running power is adjusted according to the flow change amount at the following point;

[0041] The time corresponding to the following point, the running power required to be adjusted and the adjusted nozzle flow are obtained as the parameter adjustment strategy corresponding to the second power distribution adjustment instruction;

[0042] When the third power distribution adjustment instruction is generated, the running power is adjusted according to the speed change amount at the following point;

[0043] The time corresponding to the following point, the running power required to be adjusted and the adjusted running speed are obtained as the parameter adjustment strategy corresponding to the third power distribution adjustment instruction.

[0044] When the fourth power distribution adjustment instruction is generated, the running power is adjusted according to the speed change amount and the flow change amount at the following point.

[0045] Compared with the prior art, the beneficial effects of the present application are:

[0046] By judging the parameter change of the standard running parameters of each position on the running route corresponding to each processing workpiece, and recording the position of the parameter change as a response node, and based on the response node and the adjustment required by the rubber marking machine according to the parameter change, the corresponding following point is generated, so that the rubber marking machine can make corresponding adjustment to the running power, and according to the influence of the adjusted running power distribution on the running speed and flow, the difference between the nozzle flow and the required flow when the running speed of the rubber marking machine changes is too large, which causes defects in the processing process of the processing workpiece, the processing efficiency of the rubber marking machine is improved, and the defective rate of the processing workpiece is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0048] Figure 1 The schematic diagram of the present application. DETAILED DESCRIPTION

[0049] As Figure 1 shown, the high-precision constant-distance full-automatic servo following system comprises a control center, wherein the control center is connected with a data acquisition module, a data processing module, a distance analysis module, a constant-distance following module and an execution decision module.

[0050] The data acquisition module is used to acquire the running parameters and the laser parameters of the rubber coating machine.

[0051] The data processing module is used to simulate the running conditions of the rubber coating machine according to the acquired running parameters and laser parameters.

[0052] The distance analysis module is used to analyze the distance between the spray head of the rubber coating machine and the workpiece according to the simulated running conditions of the rubber coating machine, and to determine whether the distance between the spray head of the rubber coating machine and the workpiece meets the processing requirements.

[0053] The constant-distance following module is used to generate a following point according to the simulated running conditions of the rubber coating machine, and to generate a control instruction for controlling the servo motor according to the following point.

[0054] The execution decision module is used to generate a corresponding parameter adjustment strategy according to the generated control instruction.

[0055] It should be further explained that, in the specific implementation process, the rubber coating machine usually has a fixed running route when performing the processing operation on the workpiece in the processing area. After the workpiece is placed at a specified position in the processing area, the rubber coating machine performs the operation according to the fixed running route.

[0056] The starting point of the running route is taken as the reset point of the rubber coating machine, and the running parameters and the laser parameters of the rubber coating machine are acquired from the reset point.

[0057] The running parameters include the running power, the running direction, the running speed, the spray head angle and the glue spraying flow of the servo motor.

[0058] In the specific implementation process, a coordinate system can be established with the reset point of the rubber coating machine as the origin, the real-time coordinate position of the spray head of the rubber coating machine can be acquired, and the coordinate position can be mapped into the coordinate system.

[0059] Meanwhile, a standard reference route is generated in the coordinate system according to the running route, and each position on the standard reference route corresponds to a standard coordinate position;

[0060] The running power of the servo motor is denoted as P, the running speed is denoted as V, the nozzle angle is denoted as , and the glue spraying flow is denoted as L.

[0061] It should be further explained that the process of simulating the running condition of the glue spreading machine according to the obtained running parameters and laser parameters includes:

[0062] According to each standard coordinate position on the standard reference route, a mark is made, and each standard coordinate position is associated with corresponding standard running parameters, including standard running power, standard running speed, standard running direction, standard nozzle angle, standard interval, and standard nozzle flow;

[0063] Different simulation power variables are set, the standard running power is updated through the set different simulation power variables, the updated standard running power is denoted as simulation power, and corresponding standard running speed and standard nozzle flow under different simulation power are obtained;

[0064] Then, the influence coefficient between the standard running power and the standard running speed and the influence coefficient between the standard running power and the standard nozzle flow are obtained, which are respectively denoted as , ;

[0065] It should be noted that in the specific implementation process, updating the standard running power through the set different simulation power variables means:

[0066] Different simulation power variables are added to the standard running power, so as to obtain a new running power, under the new running power, a new running speed and a nozzle flow are obtained, based on the value of the simulation power variable, and the difference between the new running speed and the standard running speed and the difference between the nozzle flow and the standard nozzle flow, the influence of the running power on the running speed and the nozzle flow is obtained;

[0067] Example:

[0068] Let the standard running power be P1, the simulation power variable be which can be positive, or negative, then the updated running power is ;

[0069] Let the corresponding standard running speed and standard nozzle flow under the standard running power be V1 and L1 respectively;

[0070] The corresponding operating speed and the nozzle flow under the updated operating power are V2 and L2 respectively;

[0071] The corresponding , .

[0072] It should be further explained that, in the specific implementation process, the distance analysis module analyzes the distance between the nozzle of the rubber coating machine and the processing workpiece according to the simulated operating condition of the rubber coating machine, and judges whether the distance between the nozzle of the rubber coating machine and the processing workpiece meets the processing requirement, which includes:

[0073] According to the obtained laser parameters, the processing distance between the nozzle of the rubber coating machine and the processing workpiece is obtained;

[0074] Obtain the standard coordinate position on the standard reference route corresponding to the nozzle at the reset point, obtain the standard operating direction, the standard nozzle angle and the standard distance corresponding to the standard coordinate position;

[0075] Compare the operating direction, the nozzle angle and the processing distance of the nozzle with the standard operating direction, the standard nozzle angle and the standard distance respectively;

[0076] If the operating direction of the nozzle is inconsistent with the standard operating direction, adjust the operating direction of the nozzle so that the operating direction of the nozzle is consistent with the standard operating direction;

[0077] If the operating direction of the nozzle is consistent with the standard operating direction, obtain the distance difference between the processing distance and the standard distance, denoted as Jc;

[0078] Set a distance threshold, when the obtained distance difference Jc is less than or equal to the distance threshold, it means that the processing distance of the current nozzle meets the processing requirement, otherwise it means that it does not meet the processing requirement;

[0079] When it does not meet the processing requirement, adjust the processing distance of the nozzle so that the processing distance is consistent with the standard distance, then set the operating speed, operating power, nozzle angle and nozzle flow of the rubber coating machine according to the standard operating parameters at the reset point, and then the rubber coating machine starts to operate according to the operating direction. It should be further explained that, when the rubber coating machine is working, the processed processing workpiece also has model differences, and different models of processing workpieces often correspond to different standard reference routes and standard operating parameters.

[0080] It should be further explained that, the constant distance following module generates a following point according to the simulated operating condition of the rubber coating machine, and generates a control instruction for controlling the servo motor according to the following point, which includes:

[0081] calling a standard operation route corresponding to the processing workpiece in the processing area, and a standard operation parameter of each position on the standard operation route;

[0082] When at least one of the standard operation parameters changes, the corresponding position is marked as a response node, and the changed item in the standard operation parameter is recorded as a parameter response item. The parameter response item is associated with the response node, and a parameter change amount corresponding to the parameter response item is obtained, including a speed change amount, an angle change amount, a flow change amount, and a direction change amount;

[0083] When at least one of the angle change amount and the direction change amount of the parameter change amount is not 0, the latest deceleration point of the response node is obtained according to the running speed, and the deceleration is 0. It should be noted that the latest deceleration point depends on the deceleration ability of the rubber cutting machine;

[0084] The latest deceleration point is taken as a follow-up point, and a first power distribution adjustment instruction is generated;

[0085] When the angle change amount and the direction change amount of the parameter change amount are both 0, it is obtained whether the speed change amount is 0. If it is 0, the flow change amount is obtained, the position of the response node is taken as a follow-up point, and a second power distribution adjustment instruction is generated;

[0086] If the speed change amount is not 0 and the flow change amount is 0, the latest deceleration point to the response node is obtained, the latest deceleration point is taken as a follow-up point, and a third power distribution adjustment instruction is generated;

[0087] If the speed change amount and the flow change amount are both not 0, the latest deceleration point to the response node is obtained, the latest deceleration point is taken as a follow-up point, and a fourth power distribution adjustment instruction is generated.

[0088] It should be further noted that the process of generating a corresponding parameter adjustment strategy according to the generated control instruction by the execution decision module includes:

[0089] When the first power distribution adjustment instruction is generated, the deceleration time required from the latest deceleration point to the response node is obtained, and the running speed change curve in the deceleration time is obtained;

[0090] A corresponding flow change curve is generated based on the running speed change curve. It should be noted that the change trend of the flow change curve is consistent with the running speed change curve;

[0091] According to the running speed change curve and the flow change curve, a corresponding running power change curve is obtained;

[0092] It should be noted that in the specific implementation process, the running speed change curve is recorded as , and the flow change curve is recorded as The running power variation curve is recorded as ;

[0093] The following is satisfied ;

[0094] The obtained time corresponding to the following point, and the running speed variation curve, the flow variation curve and the running power variation curve between the following point and the response node are taken as the parameter adjustment strategy corresponding to the first power distribution adjustment instruction;

[0095] When the second power distribution adjustment instruction is generated, the running power is adjusted according to the flow variation amount at the following point;

[0096] It should be further pointed out that in the specific implementation process, the running power that needs to be adjusted is recorded as , and the flow variation amount is recorded as ;

[0097] The following is satisfied ;

[0098] The obtained time corresponding to the following point, the running power that needs to be adjusted and the adjusted nozzle flow are taken as the parameter adjustment strategy corresponding to the second power distribution adjustment instruction;

[0099] When the third power distribution adjustment instruction is generated, the running power is adjusted according to the speed variation amount at the following point;

[0100] It should be further pointed out that in the specific implementation process, the running power that needs to be adjusted is recorded as , and the flow variation amount is recorded as ;

[0101] The following is satisfied ;

[0102] The obtained time corresponding to the following point, the running power that needs to be adjusted and the adjusted running speed are taken as the parameter adjustment strategy corresponding to the third power distribution adjustment instruction.

[0103] When the fourth power distribution adjustment instruction is generated, the running power is adjusted according to the speed variation amount and the flow variation amount at the following point;

[0104] It should be further pointed out that in the specific implementation process, the running power that needs to be adjusted is recorded as , and the flow variation amount is recorded as ;

[0105] The following is satisfied .

[0106] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to make equivalent embodiments with equivalent changes, as long as the changes or modifications do not deviate from the technical solution of the present application. Any modification or equivalent replacement to the above embodiments based on the technical essence of the present application still falls within the scope of the technical solution of the present application.

Claims

1. A high-precision constant-pitch full-automatic servo following system comprising a control center, characterized in that, The control center is connected with a data acquisition module, a data processing module, a distance analysis module, a constant distance following module and an execution decision module; The data acquisition module is used for acquiring the running parameters and the laser parameters of the rubber coating machine; The data processing module is used for simulating the running conditions of the rubber coating machine according to the acquired running parameters and laser parameters; The distance analysis module is used for analyzing the distance between the spray head of the rubber coating machine and the workpiece according to the simulated running conditions of the rubber coating machine, and judging whether the distance between the spray head of the rubber coating machine and the workpiece meets the processing requirements; The constant distance following module is used for generating a following point according to the simulated running conditions of the rubber coating machine, and generating a control instruction for controlling the servo motor according to the following point; The execution decision module is used for generating a corresponding parameter adjustment strategy according to the generated control instruction. The process that the constant distance following module generates a following point according to the simulated running conditions of the rubber coating machine, and generates a control instruction for controlling the servo motor according to the following point includes: calling a standard running route corresponding to the workpiece in the processing area, and standard running parameters at each position on the standard running route; when at least one of the standard running parameters changes, marking the corresponding position as a response node, recording the changed item in the standard running parameters as a parameter response item, associating the parameter response item with the response node, and obtaining a parameter change amount corresponding to the parameter response item, the parameter change amount including a speed change amount, an angle change amount, a flow change amount and a direction change amount; when at least one of the angle change amount and the direction change amount of the parameter change amount is not 0, obtaining the latest deceleration point at which the response node decelerates to 0 according to the running speed; taking the latest deceleration point as the following point, and generating a first power distribution adjustment instruction; when the angle change amount and the direction change amount of the parameter change amount are both 0, obtaining whether the speed change amount is 0, if 0, obtaining the flow change amount, taking the position of the response node as the following point, and generating a second power distribution adjustment instruction; if the speed change amount is not 0 and the flow change amount is 0, obtaining the latest deceleration point to the response node, taking the latest deceleration point as the following point, and generating a third power distribution adjustment instruction; if the speed change amount and the flow change amount are both not 0, obtaining the latest deceleration point to the response node, taking the latest deceleration point as the following point, and generating a fourth power distribution adjustment instruction.

2. The high precision constant-pitch fully automatic servo follow-up system according to claim 1, characterized in that, After the workpiece is placed at a specified position in the processing area, the rubber coating machine works according to the fixed running route; the starting point of the running route is taken as the reset point of the rubber coating machine, and the running parameters and the laser parameters of the rubber coating machine are acquired from the reset point; the running parameters include the running power, the running direction, the running speed, the spray head angle and the glue spraying flow of the servo motor.

3. The high precision constant-pitch fully automatic servo follow-up system according to claim 2, characterized in that, a coordinate system is established with the reset point of the rubber coating machine as the origin, the real-time coordinate position of the spray head of the rubber coating machine is acquired, and the coordinate position is mapped into the coordinate system; at the same time, a standard reference route is generated in the coordinate system according to the running route, and each position on the standard reference route corresponds to a standard coordinate position.

4. The high precision constant-pitch fully automatic servo follow-up system according to claim 3, characterized in that, The process that the data processing module simulates the running condition of the glue marking machine according to the obtained running parameters and laser parameters comprises: According to the standard coordinate positions on the standard reference route, the standard coordinate positions are marked, and the corresponding standard running parameters of each standard coordinate position are associated, the standard running parameters comprising standard running power, standard running speed, standard running direction, standard nozzle angle, standard distance and standard nozzle flow; Different simulation power variables are set, the standard running power is updated through the set different simulation power variables, the updated standard running power is recorded as simulation power, and the corresponding standard running speed and standard nozzle flow under different simulation power are obtained; And then the influence coefficient between the standard running power and the standard running speed and the influence coefficient between the standard running power and the standard nozzle flow are obtained.

5. The high precision constant-pitch fully automatic servo follow-up system according to claim 4, characterized in that, The process that the distance analysis module analyzes the distance between the nozzle of the glue marking machine and the workpiece according to the simulated running condition of the glue marking machine to determine whether the distance between the nozzle of the glue marking machine and the workpiece meets the processing requirement comprises: According to the obtained laser parameters, the processing distance between the nozzle of the glue marking machine and the workpiece is obtained; The standard coordinate positions on the standard reference route corresponding to the nozzle at the reset point are obtained, and the corresponding standard running direction, standard nozzle angle and standard distance at the standard coordinate positions are obtained; The running direction, nozzle angle and processing distance of the nozzle are compared with the standard running direction, standard nozzle angle and standard distance respectively; If the running direction of the nozzle is inconsistent with the standard running direction, the running direction of the nozzle is adjusted so that the running direction of the nozzle is consistent with the standard running direction; If the running direction of the nozzle is consistent with the standard running direction, the distance difference between the processing distance and the standard distance is obtained; A distance threshold is set, when the obtained distance difference is less than or equal to the distance threshold, it indicates that the processing distance of the current nozzle meets the processing requirement, otherwise, it indicates that it does not meet the processing requirement.

6. The high precision constant-pitch fully automatic servo follow-up system according to claim 5, characterized in that, The process that the execution decision module generates the corresponding parameter adjustment strategy according to the generated control instruction comprises: When the first power distribution adjustment instruction is generated, the deceleration time required from the latest deceleration point to the response node is obtained, and the running speed change curve in the deceleration time is obtained; The corresponding flow change curve is generated based on the running speed change curve; it should be noted that the change trend of the flow change curve is consistent with that of the running speed change curve; According to the running speed change curve and the flow change curve, the corresponding running power change curve is obtained; The time corresponding to the following point, the running speed change curve, the flow change curve and the running power change curve between the following point and the response node are taken as the parameter adjustment strategy corresponding to the first power distribution adjustment instruction; When the second power distribution adjustment instruction is generated, the running power is adjusted according to the flow change amount at the following point; The time corresponding to the following point, the running power required to be adjusted and the adjusted nozzle flow are taken as the parameter adjustment strategy corresponding to the second power distribution adjustment instruction; When the third power distribution adjustment instruction is generated, the running power is adjusted according to the speed variation at the following point; The obtained time corresponding to the following point, the required adjusted running power and the adjusted running speed are taken as the parameter adjustment strategy corresponding to the third power distribution adjustment instruction; When the fourth power distribution adjustment instruction is generated, the running power is adjusted according to the speed variation and the flow variation at the following point.

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