2504 results about "Master controller" patented technology

The invention relates to the technical field of mobile energy storage vehicles, and discloses an AI-based mobile energy storage vehicle running state monitoring and analysis system which comprises a main controller, an AI monitoring coprocessor and a state analysis coprocessor. The main controller calls a monitoring analysis instruction and sends the monitoring analysis instruction to the state analysis coprocessor; an AI monitoring coprocessor dispatches a state analysis instruction and processes multi-modal data; and the state analysis coprocessor analyzes the parameters to generate a reference monitoring signal, cooperatively monitors the battery temperature, the charging and discharging efficiency and the load fluctuation in real time, and generates an abnormal correction signal and a state control instruction in combination with an analysis optimization mode. The system realizes accurate analysis of multi-source data and dynamic control of the energy storage unit through data preprocessing, feature dimension reduction and deep neural network prediction, improves monitoring accuracy, dynamic adaptability and intelligent level, and ensures safe and efficient operation of the mobile energy storage vehicle.

The invention discloses a circulating type gravity energy storage transportation system which comprises a master controller, an annular rail, a high-position storage yard and a low-position storage yard, a transportation train is composed of a plurality of carriages which are flexibly connected and arranged on the annular rail, a low-position running rail is arranged on the annular rail, the high-position running rail is provided with a linear loading and unloading section, and the low-position running rail is provided with a linear loading and unloading section. A plurality of grabbing parts are arranged on the high-position storage yard and the low-position storage yard and move back and forth between the loading and unloading section and the stacking area, and the hoisting device is electrically connected with the master controller. By means of the double-circulation design of train circulation operation and heavy block rapid loading and unloading, the core pain points that an existing gravity energy storage system is not coherent in operation and low in efficiency are effectively solved, and the energy storage efficiency is improved. And a reliable system solution is provided for realizing large-scale, high-efficiency and fast-response gravity energy storage commercialized application.

The invention discloses a blowout preventer remote automatic grease injection system based on PID control and a control method, and relates to the technical field of grease injection, and the control method comprises the following steps: an initialization stage: automatically matching the specification of a choke tube according to the diameter of a cable, and preheating sealing grease to a set temperature; in the dynamic control stage, wellhead pressure and grease injection pressure are monitored in real time, pressure errors are calculated, the flow of a grease injection pump is adjusted according to a PID algorithm, and when the cable lowering speed suddenly changes, pressure fluctuation is inhibited in advance through a differential link; and according to the safety redundancy mechanism, when the main PID controller fails, the standby PID controller is automatically switched, and emergency locking is triggered when the wellhead pressure exceeds the limit. The flow of a grease injection pump is adjusted in real time through an incremental PID algorithm and a self-adaptive adjustment method, the grease injection amount is accurately controlled, pressure fluctuation is reduced, sudden change of the cable lowering speed is predicted through a differential link, the response precision is improved, stable operation of the system is ensured through a redundant controller and an emergency locking function, PID output is corrected through a dynamic temperature-viscosity model, and the reliability of the system is improved. The system service life is prolonged.

A modular multiport converter system includes a plurality of distributed controllers, associated with different ports of the system that are able to synchronize to ensure that power drawn from the system is equal to power supplied to the system with precise timing. The distributed controllers are able to receive a clock signal from a leader controller, or from a vice leader controller in the event that leader controller is unable to function.

The invention discloses a digital control system and method of a VI source, and relates to the field of VI source control. A main loop controller and a clamping loop controller are separately arranged in a main controller, and seamless switching between the main loop controller and the clamping loop controller is realized in cooperation with a monitor; the main loop controller is responsible for accurately outputting voltage / current under a normal working condition, and the clamping loop controller is specially used for overload protection. The two controllers are provided with programmable adjusting parameters, and the response speed and the steady-state precision are dynamically optimized according to load characteristics. The monitor adopts a periodic scanning mechanism, monitors an output signal in real time and intelligently switches a control mode. According to the invention, the four-quadrant operation capability is realized, the hundred microsecond level protection response speed is realized while high-precision output is maintained, and the problems of response hysteresis and parameter solidification existing in a traditional simulation protection circuit are effectively solved.

The invention discloses an ANN accelerator system based on multi-core storage and calculation integration and a control method, and the system comprises an on-chip network module which serves as an interconnection channel between storage and calculation integration cores and is used for combining calculation results of the multiple storage and calculation integration cores; the synchronous main controller is used for sending an instruction to the decoder according to the process that the network-on-chip module combines the calculation results of the plurality of storage and calculation integrated cores; the decoder is used for receiving an instruction of the synchronous main controller and converting the instruction into a configuration parameter; the configuration register is used for storing configuration parameters and transmitting the configuration parameters to the asynchronous control module, the on-chip routing module and the storage and calculation integrated core; and the asynchronous control module is used for receiving the configuration parameters transmitted by the configuration register and performing time sequence control on the process of merging the calculation results by the network-on-chip module according to the configuration parameters. According to the method, storage and calculation integrated data flow control with reconfigurable parallelism is optimized, and the efficiency of neural network reasoning is greatly improved.

The embodiment of the invention provides a control method, a control device and a battery management system. The complexity of control logic of an energy storage system can be reduced with low cost. The control method is applied to the energy storage system, the energy storage system comprises multiple levels of controllers, and the control method comprises the steps that a first master controller receives first identification information, the first identification information is used for indicating that the first master controller is a master controller in first-level controllers, and the multiple levels of controllers comprise the first-level controllers; based on the first identification information, the first master controller controls an energy storage system and / or a first slave controller, and the first slave controller is a slave controller in the first-level controller.

The invention discloses a shunting automatic driving and protection technology in a full operation scene. In order to improve the safety and efficiency of shunting operation, the shunting operation system is composed of a shunting protection and auxiliary driving platform, a vehicle-mounted intelligent sensing platform, an intelligent management and control data platform and a communication subsystem. The shunting protection and auxiliary driving subsystem comprises a vehicle-mounted subsystem and a ground subsystem, the vehicle-mounted subsystem is provided with a shunting auxiliary driving vehicle-mounted host and the like, and the ground subsystem comprises a host unit and the like. The vehicle-mounted intelligent sensing subsystem can detect obstacles and give an alarm. The intelligent management and control data platform is divided into four layers including a data layer and the like. And the communication subsystem realizes communication of each module. The shunting auxiliary driving vehicle-mounted host is provided with a host and an expansion unit which are consistent in structure, the host and the expansion unit comprise a main controller and the like, two links are established between the units through communication board cards, and the controller of one system can use adjacent communication board cards. The system is used for intelligent management of railway traffic, and has the advantages of safety, high efficiency, full-scene applicability and the like.

The invention discloses a dynamic monitoring-based deaerator water supply control method and system for a nuclear power plant, and relates to the field of deaerator water supply control, and the method comprises the steps: firstly, through a hybrid online identification algorithm, analyzing a historical valve position instruction and a water supply flow sequence in real time, and dynamically estimating the local gain and hysteresis width of a valve under the current working condition; then, the parameters identified in real time are utilized to carry out prospective compensation on the expected flow variation calculated by the main controller. In other words, the instruction amplitude is adjusted according to the estimated local gain, and it is ensured that consistent flow response can be obtained under different loads; meanwhile, when the instruction is reverse, the compensation amount is actively applied according to the estimated hysteresis width so as to eliminate the adjustment dead zone and oscillation caused by hysteresis. In this way, the nonlinear object of the valve is equivalent to a linear link with consistent response, and the stability and accuracy of the deaerator water level control system in the full working condition range are remarkably improved.

The invention relates to the technical field of natural gas treatment, and particularly discloses a turbine and motor double-drive magnetic levitation natural gas expansion recompression unit, system and method, and the turbine and motor double-drive magnetic levitation natural gas expansion recompression unit comprises a natural gas expansion machine, a high-speed synchronous motor and a natural gas compressor which are coaxially and rigidly connected; the magnetic suspension supporting system comprises an expansion side magnetic suspension bearing arranged at the output end of the natural gas expansion machine and a compression side magnetic suspension bearing arranged at the input end of the compressor, and is used for realizing non-contact suspension and torque transmission of the rotor; the electric control unit comprises an electric appliance cabinet and a pressure sensor, a converter and a main controller are arranged in the electric appliance cabinet, the converter is connected with a power grid and the high-speed synchronous motor, and the main controller dynamically adjusts the operation mode and power of the high-speed synchronous motor by taking the outlet pressure of the natural gas compressor as a control variable. The natural gas compressor is driven by the natural gas expansion machine and the highly synchronous motor, the unit with the reverse power generation function is adopted, the operation flexibility of the unit is improved, and the comprehensive utilization rate of energy is remarkably increased.

The invention belongs to the technical field of agent cooperative work control, and particularly relates to a multi-robot distributed cooperative formation control method under specified time. The method comprises the following steps: constructing a multi-robot dynamic model; constructing a communication topological structure of the multi-robot formation and determining an expected formation form; virtual springs are introduced between the robots to construct a potential energy function, and formation errors of a robot system are defined; designing a time-varying gain-based gradient descent distributed controller in a task level and a controller in a specified time in a joint level; estimating and compensating unknown parameters of the robot kinetic model in real time to obtain an online estimation parameter adaptive law based on time-varying gain; a formation master controller is obtained according to all the controllers and the online estimation parameter adaptive law, and multi-robot distributed cooperative formation control is achieved through the formation master controller; according to the method, the problem of rapid reconstruction of the formation form in complex dynamic environments such as dynamic obstacle avoidance of an unmanned aerial vehicle cluster and cooperative work of multiple mechanical arms is effectively solved.

The invention relates to the technical field of lasers, in particular to a laser heat management device and a control method thereof, the laser heat management device comprises a cooling substrate, the cooling substrate is internally provided with a micro-channel, the micro-channel comprises a main channel and a branch channel, and the main channel is used for circulating cooling water; the cooling substrate is provided with a detection control area, the detection control area is located at the joint of the branch channel and the main channel, the detection control area is provided with a phase change micro-valve and a detection assembly, the detection assembly is used for collecting temperature data, the phase change micro-valve comprises a phase change material and a flexible separation blade, and after the valve is opened, the phase change material generating phase change pushes the flexible separation blade, and the phase change micro-valve is connected with the detection assembly. The communication state of the main channel and the branch channel is controlled; the main controller is used for receiving the temperature data of all the detection control areas and controlling the valves of the corresponding detection control areas to be opened or closed according to the deviation between the temperature data and the target temperature. The temperature gradient of the laser can be reduced at least so as to ensure that the laser realizes a long-term stable working state.

A modular continuous track system for a utility vehicle is disclosed. The modular continuous track system may include a first crawler unit comprising a first electric motor and a first track mounting system configured to couple the first crawler unit to a first utility platform. The modular continuous track system may include a second crawler unit comprising a second electric motor and a second track mounting system configured to couple the second crawler unit to the first utility platform. The modular continuous track system may include a control system configured to control operation of the first crawler unit and the second crawler unit comprising: a first motor controller electrically coupled to a main controller and the first electric motor, a second motor controller electrically coupled to the main controller and the second electric motor; and the main controller.

The invention relates to the technical field of vehicle engineering, and discloses a vehicle transverse stability coordination control system based on sensing fusion, which comprises a main controller, a sensing fusion coprocessor and a transverse control coprocessor. The main controller calls and sends a stability control instruction according to the driving state; the sensing fusion coprocessor schedules a transverse control instruction in multi-source information fusion; the transverse control coprocessor analyzes the parameters to obtain basic control signals, dynamically monitors transverse acceleration, yaw velocity and tire slip angles, generates and outputs compensation signals through mode adjustment such as dynamic coordination function bypass selection and global or local parameter dynamic coordination, and controls an actuator after being fused with the basic signals. The system integrates a data fusion module, a state evaluation module and a multi-strategy dynamic adjustment module, multi-source information accurate fusion and multi-parameter cooperative control are achieved, the transverse stability and driving safety of the vehicle under the complex working condition are improved, and the method is suitable for the field of vehicle engineering control.

The invention discloses a ship propulsion control system and method, and relates to the technical field of ship engineering.The ship propulsion control system comprises an acquisition module used for acquiring analog quantity signals during ship propulsion, and a main controller module used for receiving the analog quantity signals and generating a propulsion control instruction; according to the ship propulsion control system, two acquisition channels are arranged for analog quantity signals, a fault channel is rapidly detected and switched in combination with a self-checking mechanism, the fault channel can be rapidly detected, the fault channel can be rapidly switched, the fault channel can be rapidly detected, the fault channel can be rapidly switched, and the reliability of the ship propulsion control system can be improved. A digital quantity output channel fault is found in time and switched to a standby channel, a power supply and communication interface backup strategy is perfected, fault priorities are accurately divided, corresponding measures are taken, the strict requirements of modern ships for high reliability and high safety of propulsion control are met, and powerful technical support is provided for stable navigation of the ships.

The invention relates to the technical field of electromagnetic compatibility testing, in particular to an electromagnetic compatibility testing device and method for the shaft current of a hub motor, and the device comprises a shielding chamber, a system master controller, a dynamometer, a hub motor tool and a testing system. A dynamometer, a hub motor tool and a test system are arranged in the shielding chamber; the hub motor tool is used for installing and fixing a hub motor to be tested. An output shaft is designed at the rotor end of the hub motor, and the hub motor is connected with the dynamometer through the output shaft. The test system is used for measuring the shaft current of the hub motor; the system master controller is used for controlling the wheel hub motor to operate under various working conditions and collecting shaft current under each working condition; and obtaining an electromagnetic compatibility test result according to the shaft current. The electromagnetic compatibility and reliability of the hub motor and the control system thereof can be improved.

The invention relates to the technical field of power equipment, and discloses a power electronic transformer redundant controller switching method, which comprises the following steps of: constructing a redundant control array to collect analog quantity data of a power electronic transformer in real time so as to obtain two groups of instantaneous interaction data; the master controller generates a control logic by any one group of instantaneous interaction data to control the operation state of the power electronic transformer, and sends the other group of instantaneous interaction data to the slave controller in a preset interruption period to dynamically update the data of the slave controller; through the redundancy design of the master controller and the slave controller, when the master controller breaks down, the master controller can be quickly switched to the slave controller in a control period, and the switched master controller continues the last updated instantaneous interaction data of the master controller before switching, so that the non-impact switching is realized, the fluctuation or shutdown risk of the system is avoided, and the reliability of the system is improved. The stable operation of the power electronic transformer is ensured, and the maintenance and shutdown loss caused by faults is reduced, so that the overall maintenance cost is reduced.

The invention provides a servo press control system and method based on a time-sensitive network, and relates to the technical field of intelligent manufacturing and industrial automation control, and the system comprises a time-sensitive network TSN which is used for providing global time synchronization and deterministic data transmission; a main controller of the multi-axis servo control unit is used for issuing a motion control instruction and a feeding and discharging control instruction through a TSN. A robot controller in the robot feeding and discharging unit is used for driving an industrial robot to execute plate taking and placing operation under the action of the feeding and discharging control instruction. The visual monitoring unit comprises an industrial camera accessed to the TSN and is used for collecting images and transmitting image data to the edge computing node through the TSN; the edge computing node is used for processing the image data to generate a compensation instruction and feeding back the compensation instruction through the TSN; and the upper monitoring system is used for subscribing real-time data published by the edge computing nodes, so that the control range of the servo pressure control system is expanded, and the convenience of data transmission and interaction is improved.

The invention discloses a full-link redundancy EMB control system and method without a main controller, and belongs to the field of braking systems, the full-link redundancy EMB control system comprises a front axle control module, a rear axle control module and four EMB actuators, the front axle control module comprises a first control module and a second control module, and the rear axle control module comprises a third control module and a fourth control module; the four EMB actuators are respectively mounted on four wheels of a vehicle, and the first control module, the second control module, the third control module and the fourth control module are respectively connected with the four EMB actuators; the front axle control module and the rear axle control module are both connected with the whole vehicle CAN of the vehicle, the front axle control module and the rear axle control module are connected through the internal CAN, and therefore the redundant design of vehicle braking can be achieved, and the reliability of vehicle braking is improved.

The invention provides a charging pile power supply sharing control device and system. The charging pile power supply sharing control device comprises a main controller, a man-machine interaction module, a power transmission module, an electric energy metering module and an abnormity monitoring module, the man-machine interaction module is used for receiving a charging instruction of a user and sending the charging instruction to the main controller; the main controller is used for controlling the power transmission module to activate the charging pile to provide charging service for the vehicle according to the charging instruction; the electric energy metering module is used for carrying out electric energy metering on vehicle charging and feeding back obtained electric energy metering parameters to the main controller; the anomaly detection module is used for monitoring power transmission parameters and / or equipment fault conditions in the vehicle charging process and feeding back the power transmission parameters and / or the equipment fault conditions to the main controller in real time; the main controller is further used for controlling the working state of the power transmission module in response to the power transmission parameters and / or the equipment fault condition. According to the invention, intelligent management of common charging pile sharing is realized, and the use efficiency and the energy utilization rate of the charging pile are greatly improved through a timing reservation function.

The invention provides a multi-modal fire-fighting robot cluster cooperation method and system, a medium and a product, and relates to the technical field of fire-fighting robots, and the method comprises the steps: obtaining own multi-modal sensing data collected by a fire-fighting robot cluster in real time, and generating a corresponding local environment model for each robot in the cluster; the working state of the current master control fire-fighting robot is monitored, if abnormity is found, the master control performance of a non-master control robot cluster (except the current master control robot) is analyzed according to the local environment models, and a new master control fire-fighting robot is determined; acquiring associated multi-mode sensing data collected by a new master controller from the local environment model of the slave robot cluster through a wireless ad hoc network, and generating a new global collaborative operation strategy according to the associated multi-mode sensing data; and distributing the new global collaborative operation strategy to each robot of the non-master-control robot cluster, and controlling the robots to carry out fire-fighting operation according to the strategy. The technical problem that a fire-fighting robot cluster is difficult to collaboratively carry out fire-fighting operation under the condition that a master control node fails in the prior art is solved.

The invention discloses a fast charging protocol control device compatible with multiple fast charging protocols, and the device is characterized in that a Type-C controller is connected with a tested fast charging power supply and a main DSP controller, and achieves the control modes of PD2.0 and PD3.0 fast charging protocols of the tested fast charging power supply; the ADC1 and the ADC2 are respectively connected with the tested fast charging power supply and the main DSP controller, the main DSP controller is connected with the electronic load, and a control mode of ID identification of the tested fast charging power supply is realized; the DAC1 and the DAC2 are respectively connected with the tested fast charging power supply and the main DSP controller, the main DSP controller is connected with the electronic load, and the control mode of QC2.0 and QC3.0 fast charging protocols of the tested fast charging power supply is realized; and the Timer is connected with the main DSP controller and the tested fast charging power supply to realize a control mode of AFC, FCP and SCP fast charging protocols of the tested fast charging power supply.

The invention relates to the field of electric vehicles, and provides a BMS communication abnormity judgment and data reorganization method, a BMS system and a storage medium, and the method comprises the steps: when detecting that an offline slave controller appears in the BMS system, recording the serial numbers of the offline slave controller and the online slave controller through an array; if the serial number of the off-line slave controller is in a continuous state, judging that the main communication interface is in a disconnected state; temporarily storing the cache array obtained by the main communication interface through the slave controller in the recording array, calling the standby communication interface of the main controller to obtain the cache array through the slave controller, inserting and merging the cache array and the recording array, storing the cache array and the recording array in the recording array, and storing data in the recording array in the cache array. According to the method and the device, the abnormal condition can be automatically and quickly judged and processed without manual intervention when the abnormal condition is detected, so that the automation degree of the system is improved, the convenience and the efficiency of operation are improved, and the safety and the stability of the system are enhanced.

The invention relates to the technical field of water pump production, in particular to a semi-automatic water pump assembly line. The production line comprises a stator feeding station, a wave spring mounting and oiling station, a rotor part press-fitting station, a rear cover press-fitting station, a screw locking station, a static ring press-fitting station, an impeller press-fitting station, an electric measurement station, a gas measurement station, a line body, a PLC (Programmable Logic Controller) general controller and an MES (Manufacturing Execution System), the stator feeding work station, the wave spring mounting and oiling work station, the rotor part press-fitting work station, the rear cover press-fitting work station, the screw locking work station, the static ring press-fitting work station, the impeller press-fitting work station, the electric measurement work station and the gas measurement work station are sequentially arranged in the conveying direction of the line body and are in butt joint with the line body, the PLC master controller is connected with the work stations and controls the work stations and the line body, and the MES system is connected with the PLC master controller. The assembly line can achieve semi-automatic production of water pumps, saves labor cost, reduces labor intensity of workers, improves production efficiency and improves the automation degree of enterprises.

The utility model relates to a power supply control device, power supply equipment and a logistics distribution system, and belongs to the technical field of power supply control. The device comprises a main controller; a plurality of slave controllers, wherein the first ends of the slave controllers are electrically connected with the master controller; the power supply devices are electrically connected with the second ends of the corresponding slave controllers; wherein when the master controller outputs a control signal for operating the first power supply device to the first slave controller, the first slave controller responds to the control signal and controls the first power supply device to work; wherein the first slave controller is one of the plurality of slave controllers, the first power supply device is one of the plurality of power supply devices, and the first power supply device corresponds to the first slave controller.

The invention provides a multi-motor synchronous control method, a multi-motor synchronous control system, a non-transient readable storage medium and a seat system. The multi-motor synchronous control method comprises the following steps: starting a plurality of motors based on a request of a main controller, the plurality of motors including a first motor and at least one second motor, the first motor and the at least one second motor being respectively controlled by a first motor controller and at least one second motor controller which are in communication connection with each other; acquiring first position information of the first motor and second position information of the second motor; and adjusting the running speed of the first motor or the second motor based on the first position information and the second position information. According to the invention, the real-time position information of the first motor and the second motor is obtained, and the operation speeds of the plurality of motors are adjusted through the respective motor controllers of the first motor and the second motor, so that the independent and synchronous operation of the plurality of motors is realized.

The invention relates to the technical field of vehicle control, and discloses a vehicle automatic driving redundant system, a control method and a vehicle, the system comprises a main controller board, a redundant controller board, a sensor system and an actuator system; in the first working mode, the main controller collects vehicle information and planned first computing power through the first sensor group, the redundant controller collects vehicle information and planned first computing power through the second sensor group, and the main controller sends a first control instruction to the first actuator group and sends a second control instruction to the second actuator group; and when the degradation condition is detected to be triggered, the controller is switched to a second working mode, and the controller which is not disconnected generates and sends a third control instruction to the corresponding actuator group according to the vehicle information and planned second computing power so as to continue to execute the automatic driving task. According to the scheme, the main controller and the redundant controller share computing resources, sensor resources and actuator resources, the situation that one sensor system and one actuator system are independently arranged is avoided, and the system saves resources and reduces cost expenditure.

The invention discloses a predetermined time expansion state observer generation method and an observation error convergence method, which are applied to the technical field of aerospace, and comprise the following steps: constructing a controller for a second-order nonlinear system according to an all-drive system theory; converting the second-order nonlinear system according to the controller to obtain an all-drive system based on the main controller; wherein the main controller is a controller for controlling the all-wheel-drive system; designing a predetermined time expansion state observer based on the total disturbance and observation error of the all-wheel-drive system; wherein the predetermined time expansion state observer is an observer which limits the upper bound of convergence time of the observer based on a predetermined time parameter. Compared with most existing extended state observers which can only ensure asymptotic convergence and finite time or fixed time convergence, the observer generated based on the predetermined time extended state observer generation method can ensure that the observation error converges within the predetermined time, so that the converged predetermined time is more stable; and the user experience is improved.

A work environment adjustment system includes multiple instances of controllable office equipment located within an office space, each instance associated with a specific office location and including an activator for controlling states of the instance, at least one presence sensor for detecting user presence within each space associated with each instance, and a master controller linked to each office equipment activator to control activation of each activator to control a current state of each instance. The master controller is programmed to perform the steps of receiving sensor signals from the at least a first presence sensor, determining user presence at each space associated with each instance, controlling states at each of the instances independent of user input when the space associated with the instance is vacant, and enabling user control of the state of each instance associated with a space that is occupied by a user.

The invention provides an all-working-condition denitration system control method based on generalized predictive control and intelligent feedforward. The method comprises the following steps that a neural network algorithm is adopted, a transfer function model is obtained according to a historical data set and input into a generalized predictive controller, and a main loop controller is obtained; the main loop controller is used for main loop control to obtain a denitration inlet concentration prediction instruction, an ammonia spraying amount prediction instruction and denitration outlet concentration; and according to the ammonia injection amount prediction instruction, the denitration inlet concentration prediction instruction combined with the inlet concentration compensation algorithm, the denitration outlet concentration combined with the deviation protection logic, and the current ammonia injection amount combined with the historical optimal ammonia injection amount, obtaining a feed-forward master controller for controlling a feed-forward loop and updating the current ammonia injection amount. The control method provided by the invention has the advantages of good stability, reliability, predictive capacity, strong adaptability and good control quality, and can realize the optimal balance of denitration efficiency and economy.