251 results about "Stable status" patented technology

The invention discloses an immersed server operation control method and system, and relates to the technical field of immersed cooling, and the method comprises the steps: judging whether a liquid level is higher than a preset starting liquid level, and activating a cooling liquid circulation system to confirm liquid flow; the liquid inlet speed of the cooling liquid is optimized according to feedback of the flow velocity sensor, and the stable state of the liquid level in the server cabinet is monitored; whether cooling liquid leaks or not is judged based on liquid level acceleration and flow velocity deviation, when the liquid level is insufficient, an alarm is triggered, and the liquid level and circulation time are automatically adjusted. According to the method, the automation level and the operation safety of the system are improved, sufficient supply of the cooling liquid under the high-load condition of the server is ensured, the downtime caused by leakage of the cooling liquid is shortened, the long-term operation cost of the system is reduced through timely maintenance notification, and the service life of the system is prolonged by automatically adjusting the liquid level and the circulation time. And quick recovery of the system when leakage occurs is ensured, so that the reliability and the fault recovery capability of the system are improved.

According to the method and the system, an impedance matrix of a voltage source type inverter is determined based on a small signal model of the voltage source type inverter, and a first impedance ratio, a second impedance ratio and a third impedance ratio are established with an equivalent impedance matrix of a power grid; if the first impedance ratio does not meet the Nyquist stability criterion, determining that the converter is in a negative damping state; if the first impedance ratio meets the Nyquist stability criterion, it is judged that the converter is in a positive damping state or an under-damping state; and taking the product of the second impedance ratio and the third impedance ratio as an oscillation damping coefficient, if the oscillation damping coefficient is less than zero, judging that the converter is in a negative damping stable state, and if the oscillation damping coefficient is greater than or equal to zero and less than a critical damping coefficient, judging that the converter is in an under-damping stable state. If the oscillation damping coefficient is larger than or equal to the critical damping coefficient, it is judged that the converter is in a positive damping stable state, and the dynamic characteristics of the converter under the nonlinear and large-disturbance conditions are accurately described.

The present application provides a vehicle stability control method, electronic device, storage medium and program product, the method comprising: calculating the nominal state of the vehicle to obtain the ideal yaw rate of the vehicle; comparing the actual yaw rate with the ideal yaw rate to obtain different first steering conditions; based on the first steering condition and the vehicle stability phase diagram constraint, dividing the vehicle stability state into multiple second steering conditions, and adopting corresponding body stability control strategies under different second steering conditions. The present application clearly divides the second steering condition in which the steer-by-wire system and the body electronic stability system work, and executes appropriate body stability control strategies according to the dynamic characteristics of the vehicle under the second steering condition. Only when the steer-by-wire system cannot meet the stability control requirements will it enter the coordinated control of the steer-by-wire system and the body electronic stability system or the separate control state of the body electronic stability system, which effectively improves the stability and safety of vehicle driving.

The utility model is suitable for the field of glasses, and discloses a hinge structure and intelligent glasses. The hinge structure comprises a first connecting piece and a second connecting piece. The first connecting piece comprises a first mounting plate and a rotating shaft which are connected; the second connecting piece comprises a second mounting plate and a rotating piece which are connected, and the rotating piece is rotatably arranged on the rotating shaft in a sleeving mode. Wherein the rotating shaft is provided with a first arc-shaped surface, a first limiting surface, a second limiting surface and a second arc-shaped surface, the rotating piece comprises an arc-shaped part and a bent part which are connected, the arc-shaped part is in close fit connection with the first arc-shaped surface, and the bent part and the rotating shaft are assembled and connected between the first limiting surface and the second limiting surface. According to the hinge structure provided by the invention, when the second connecting piece rotates relative to the first connecting piece, the second connecting piece is in a stable state at different rotating positions, so that the glasses legs are in a stable state at required positions relative to the glasses frame, and the use experience of a user is improved.

The invention relates to a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: determining a steering intention state of the vehicle based on an obtained running state parameter of the vehicle; under the condition that the steering intention state is in any one of a preparation state, an activation state and a stable state, determining a target prediction value and a user type parameter of the transverse acceleration; determining the predicted lateral displacement of the user according to the target predicted value of the lateral acceleration, the acceleration threshold, the quality parameter, the standard quality parameter and the statistical value of the response factor; and according to the predicted lateral displacement of the user, the corresponding target supporting pressure is determined, so that a seat air bag of the vehicle is controlled to be inflated to the target supporting pressure. According to the invention, the adaptability and comfort of a user can be improved, and more accurate active lateral support is realized.

The present disclosure relates to a real-time configuration system (108) designed for efficient updates within a network (106) The system includes a receiving unit (302) to accept configuration files from user equipment, a memory (304) to store these files, and a processing unit (308). The processing unit (308) establishes a connection with at least one server from a plurality of servers (220a, 220b, 220c). The processing unit (308) determines a status of at least one process running on the at least one server. The processing unit executes the configuration information on the process if the determined status of the process is a standby status and evaluates a state of the process after executing the configuration information. The processing unit (308) updates the configuration information on the plurality of servers by executing the configuration information on each server when the evaluated state of the executed configuration information is a stable state.

The invention relates to the technical field of pavement maintenance, and particularly discloses a pavement crushing device for dismantling a well lid and a crushing method of the pavement crushing device. A support plate; and a sleeve. According to the device, the protective cover is located on the periphery of the well lid, the protective cover is pressed downwards and abuts against the road surface, then the rocker arm drives the machine frame to move downwards, a plurality of sleeve rods on the triangular plate are arranged in corresponding sleeves on the protective cover in a sleeved mode, and therefore the triangular plate is fixed, the tool bit is connected with the triangular plate, and the triangular plate and the protective cover are both in a fixed state; the mode does not need to consider the state of the well seat, and the cutter head is kept in a stable state during rotation, so that the cutter head is effectively prevented from deviating during rotation, on one hand, the condition that the service life of the cutter head is shortened due to other stress during milling is avoided, and on the other hand, the milling efficiency is improved.

The invention provides a vehicle stability control method, electronic equipment, a storage medium and a program product, and the method comprises the steps: calculating the nominal state of a vehicle, and obtaining the ideal yaw velocity of the vehicle; comparing the actual yaw velocity with the ideal yaw velocity to obtain different first steering working conditions; and based on the first steering working condition and the vehicle stability phase diagram constraint, the vehicle stability state is divided into a plurality of second steering working conditions, and corresponding vehicle body stability control strategies are adopted under the different second steering working conditions. According to the method, the second steering working condition for working of the steer-by-wire system and the vehicle body electronic stability system is clearly divided, and the appropriate vehicle body stability control strategy is executed according to the vehicle dynamic characteristics under the second steering working condition. Only when the steer-by-wire system cannot meet the stability control requirement, the vehicle enters the cooperative control state of the steer-by-wire system and the vehicle body electronic stabilization system or the independent control state of the vehicle body electronic stabilization system, and the stability and safety of vehicle running are effectively improved.

The invention belongs to the technical field of flow shop scheduling, and particularly relates to a hybrid flow shop full-active batch scheduling method. On the basis of a construction process of full active scheduling, complete scheduling is generated, and a compact and feasible initial solution is obtained; a damage-repair process based on a track is introduced, and complete scheduling is enhanced by focusing key operation to gradually converge to a stable state. According to the method, for the first time, on the basis of a construction process of full-active scheduling, complete scheduling is generated, batch dispatching, batching and distribution rules are effectively integrated, a high-quality scheme is constructed by utilizing a weighted priority mechanism, a damage-repair process based on a track is introduced, and the complete scheduling is strengthened by focusing key operation and is gradually converged to a stable state. Cross-stage waiting can be reduced, the equipment utilization rate is improved, and the total completion time is shortened; a high-quality schedule is generated in a short calculation time, and the method is suitable for a real-time or quasi-real-time production environment.

The invention provides an aircraft launching opportunity determination method, device, system, equipment and medium, and the method comprises the steps: responding to an aircraft launching instruction, and obtaining criterion parameters in real time, the criterion parameters comprising meteorological data, aircraft attitude data and platform actual attitude data, the aircraft attitude data comprises an aircraft pitch angle, an aircraft roll angle and an aircraft yaw angle; obtaining platform prediction attitude data at a pre-execution moment according to the platform actual attitude data at the historical moment, and judging whether the launching platform is in a stable state or not according to the platform prediction attitude data and the platform actual attitude data at the pre-execution moment when the pre-execution moment arrives; and in a stable state, if each item in the criterion parameters meets a preset launching condition and is in an automatic launching mode, determining the target launching opportunity of the aircraft according to the criterion parameters. The method solves the problems that in the prior art, the reliability of the transmitting opportunity is low, and hysteresis exists.

The invention discloses a circuit protection method based on fault current prediction and related products, and belongs to the technical field of circuit protection, and the method comprises the steps: obtaining a current instantaneous value at a current moment and a current instantaneous value at a corresponding historical moment in real time, and calculating a current value at the current moment and the measurement precision of the current value at the current moment in real time; when the measurement precision of the current value at the current moment is greater than the response precision of the current fault, the current fault is established, and the calculation of the measurement precision of the current value at the current moment is stopped; after the fault current fluctuation time is delayed, the stable fluctuation of the current value at the current moment is calculated in real time; when the stable fluctuation of the current value at the current moment is smaller than a preset value, entering a current fault stable state, and obtaining a predicted fault current value; based on the predicted fault current value, the circuit is protected; the accuracy and response speed of fault current prediction are improved, so that circuit protection can respond to faults in the shortest time, and meanwhile, false alarms and missing alarms are reduced.

The invention provides an elevator health state monitoring and fault prediction method and system, a medium and a product. According to the method, a system server firstly obtains running state information and sensing data of all parts of an elevator door, then the deviation degree of the running state information of all the parts of the elevator and a running standard value is calculated to obtain a first health value set, and quantitative evaluation of the health conditions of the parts is preliminarily completed. And then, the system server recognizes an abnormal event from the sensing data, the system server obtains the current running state information of each component when the elevator door reaches a stable state after the abnormal event, and the health value is updated by calculating the state change rate, so that the health assessment can dynamically reflect the influence of an emergency on the component. And the system server calculates the attenuation trend of the health value of each part based on the time sequence data of the updated health value, and predicts the time when the elevator door possibly breaks down in combination with a preset fault threshold value. According to the method, the timeliness of elevator door health monitoring and the accuracy of fault prediction are effectively improved.

The invention relates to the technical field of vehicles, and discloses a control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining associated data affecting the driving safety of a vehicle when the vehicle is driven to a target location at a future moment; according to the associated data, determining predictive control parameters of the vehicle in the transverse direction, the longitudinal direction and the vertical direction; when the vehicle runs to the target location, controlling the vehicle to run according to the predictive control parameters, and determining initial kinetic parameters when the vehicle runs according to the predictive control parameters; the initial kinetic parameters are corrected according to the actual kinetic parameters of the vehicle, target control parameters are determined, and the target control parameters indicate control parameters of the vehicle in a stable state; and controlling the vehicle to work according to the target control parameters. Through the technical scheme of the invention, the problem that the driving stability of the vehicle in different scenes is insufficient is solved, and the stability and safety of the vehicle are improved.

The utility model discloses a stable hydraulic cylinder, and relates to the technical field of hydraulic cylinders. The bottom end of the hydraulic cylinder body is fixedly connected with the outer wall of the base; the driving motor is fixedly connected with the outer wall of the hydraulic cylinder body through a rack; according to the hydraulic cylinder, the buffer mechanism is arranged, air cannot be exhausted from the circulating pipe, it is ensured that gas in the buffer mechanism is in a stable state in the supporting state, the stability of the hydraulic cylinder in the supporting process is further enhanced, and the situation that supporting is unstable due to gas leakage and the like is avoided; the piston rod slides downwards in the air collection cylinder to extrude air, the pressure loss and descending speed of the output end of the hydraulic cylinder body can be reduced, the hydraulic cylinder and equipment connected with the hydraulic cylinder are effectively protected through the function, the equipment impact and damage caused by too fast pressure loss are avoided, and the safety and reliability of the whole system are improved.

Methods and systems for anomaly detection include determining whether a system is in a stable state or a dynamic state based on input data from one or more sensors in the system, using reconstruction errors from a respective stable model and dynamic model. It is determined that the input data represents anomalous operation of the system, responsive to a determination that the system is in a stable state, using the reconstruction errors. A corrective operation is performed on the system responsive to a determination that the input data represents anomalous operation of the system.

The invention relates to the technical field of compressor accessory machining, in particular to a screw compressor accessory CNC machining device which comprises a U-shaped frame with a downward opening. The device further comprises a limiting unit, the limiting unit is arranged on the horizontal section of the U-shaped frame, the limiting unit comprises a height adjusting component connected to the lower end of the horizontal section of the U-shaped frame, the height adjusting component is sleeved with a lifting plate, and a distance adjusting component is arranged at the position, close to the left side, of the lifting plate. According to the limiting unit, the shaft hole of the sealing end cover is used for directly conducting inner clamping and rotation limiting on the sealing end cover, limiting operation is simple and efficient, full contact clamping ensures that the sealing end cover is in a continuous clamping stable state, the sealing end cover is prevented from generating deviation or friction damage, and the service life of the sealing end cover is prolonged. And therefore, the polishing and positioning accuracy and the polishing effect are improved.

The invention relates to the field of motor control, and discloses a 100kW-level low-rotating-speed composite-structure energy-saving motor and a driving control method, and the method comprises the steps: firstly, detecting the rotor rotating speed, stator current, bearing temperature and vibration signals of the motor in real time through a sensor module; a data analysis module calculates change values of the rotating speed of the rotor in a plurality of continuous monitoring periods, accumulates the change values to obtain a comprehensive fluctuation ratio, and compares the comprehensive fluctuation ratio with a preset fluctuation ratio threshold interval; then, the current running state of the motor is judged according to a comparison result; the motor operation states comprise stable operation, overload operation and light load operation; finally, if the motor is in the stable operation state, the current driving parameters are maintained; if the motor is in the overload operation state or the light-load operation state, the current driving parameters are adjusted until the motor is in the stable operation state, and therefore the motor driving parameters are dynamically monitored and adjusted to maintain the motor in the stable state.

The utility model provides a high-strength sucker rod rolling repair device. The high-strength sucker rod rolling repair device comprises a bottom plate, a plurality of supporting legs are fixedly installed at the bottom of the bottom plate, two first fixing blocks are fixedly installed at the top of the bottom plate, first grooves are formed in the two first fixing blocks, moving plates are arranged above the two first fixing blocks, and the moving plates are fixedly installed on the bottom plate. Two first hydraulic rods are fixedly mounted on each of the two first fixing blocks; through the moving mechanism and the repairing mechanism, the sucker rod is fixed between the second fixing block and the first fixing block, the stable state is kept, the sucker rod is polished and repaired through a repairing roller, meanwhile, through a third hydraulic rod, the repairing roller can apply proper pressure to the sucker rod, rolling operation is continuously conducted on a repaired area, and the repairing efficiency is improved. And the high-strength sucker rod rolling repairing device is used for repairing the sucker rod.

The utility model provides a material guide structure of an injection molding machine, which relates to the technical field of injection molding machines, and comprises a lifting adjusting mechanism, the top of the lifting adjusting mechanism is fixedly connected with a uniform blanking mechanism, the lifting adjusting mechanism comprises four supporting legs, the tops of the four supporting legs are fixedly connected with a driving motor A, and the driving motor A is connected with a driving motor B; and threaded lifting rods are fixedly mounted at the output ends of the four driving motors A. According to the utility model, under the action of the lifting adjusting mechanism, the four threaded lifting devices are additionally arranged at the bottom of the supporting plate, so that the whole mechanism can be ensured to be in a stable state during operation, and meanwhile, the driving motor A is started to enable the threaded lifting rod to push the threaded cylinder to ascend; the height of the material guide structure can be adjusted according to operation requirements, so that the operation range of the injection molding machine is expanded, the safety risk is reduced, and the flexibility and adaptability of the device are improved.

Pressure equalization device comprising a cage (1) with a gas passage opening (2), wherein the gas passage opening (2) is enclosed by a valve seat (3) and a diaphragm (4) arranged in the cage (1), which is held on a retaining element (5) and is designed as a valve body (6), wherein the diaphragm (4) can be snapped, depending on the differential pressure, from a retaining position (7) in which it seals against the valve seat (3) to an opening position (8) in which it is lifted from the valve seat (3) and allows a direct passage through the gas passage opening (2), wherein the diaphragm (4) has a bistable instability (9) or an instability (9) with a metastable and a stable state.

The invention relates to the technical field of geological exploration, and particularly discloses a mineral geological exploration device convenient to install. According to the mineral geological exploration device convenient to install, the purpose of being stably installed on different grounds is achieved, a rock core sampler is used for drilling and sampling rock, a rotating device is used for adjusting a moving device at different angles, so that multi-angle adjustment is conducted, and a fixing device is used for supporting the device; corresponding assemblies are inserted into a soil layer or a rock layer to be fixed, fixing at different fixing angles is achieved through self rotation of the fixing device, the supporting device drives the equipment, the contact area between the equipment and the ground is increased through the crawler-type design, and compared with a traditional roller type moving mode, the contact area between the equipment and the ground is increased; and through the elastic design, the equipment is adaptive to different grounds, so that the stable state is kept in the fixing process.

The invention provides a pre-pressing method for construction of a suspension structure, and particularly relates to a method for applying a subsequent total load in advance through a pre-pressing device such as a hydraulic jack, so that a floor structure vertically deforms and is locked in advance, and then pressure is balanced and released step by step along with increase of a construction load. Load application and pressure release balance in the whole process is ensured, and structural deformation is in a stable state. According to the method, a structure pre-arching mode is adopted in the earlier stage, after construction of a steel structure outer frame is completed, the follow-up design load amount is obtained through calculation, suspension structure outer frame pre-pressing is conducted, so that the vertical deformation amount is locked in advance, then pressure is released through step-by-step unloading along with increase of the construction load, and the outer frame structure stress is always in a balanced state; the problem that vertical deformation of a floor structure is continuously increased due to load increase in floor construction of a suspension structure is solved. The risks of structural cracking, roof water leakage, building decoration layer damage and the like possibly caused by development of vertical deformation of the floor are reduced to the maximum extent, and the construction quality of the suspension structure is greatly improved.

The invention discloses a large hydropower station fast gate opening jump fault judgment method and system, and the method comprises the steps: configuring gate control system hardware, carrying out the gate code value jump enabling judgment according to the valve action state of a dual valve execution mechanism, and when the jump of the gate opening in a single PLC scanning period exceeds a first threshold value, carrying out the gate code value jump enabling judgment; when the gate opening degree continuously jumps in the same direction and exceeds a first threshold value, triggering single-cycle alarm and total alarm, when the gate opening degree continuously jumps in the same direction and exceeds a second threshold value and the number of times reaches a preset value, triggering multi-cycle alarm and total alarm, executing alarm automatic reset after the fault is eliminated, and resetting the alarm through continuous stable state detection or manual operation. When the gate is in a normal state, the change of the opening degree of the gate is monitored stably in real time, the false alarm rate can be remarkably reduced, and interference to operation and maintenance personnel is reduced. And when the gate has an opening jump fault, the fault can be effectively prevented from being missed to be reported, so that maintenance personnel can quickly and accurately position the fault. And after the fault disappears, the fault can be reliably and automatically reset, and the influence on equipment is reduced.

The invention relates to the technical field of turbine manufacturing and maintenance, in particular to a turbine bearing and rotor journal clearance measurement method, which comprises the following steps of part in-place, gasket group arrangement, simulation compression and equivalent clearance measurement. Measuring an equivalent gap Se of at least one position at a gap between the bearing upper half tile and the rotor shaft neck in a state of maintaining the pre-tightening force; wherein the preset thickness T is set according to the target bearing top clearance C, and the target bearing top clearance C is equivalently realized and verified by controlling the thickness of the gasket group; according to the method, the radial clearance is indirectly and accurately determined by controlling the pressing position of the split of the bearing, the set value of the top clearance is verified, efficient and visual evaluation of the size of the backlash and the axial uniformity of the clearance is achieved through the geometrical relationship in the stable state, and more direct and accurate clearance verification is achieved.

The utility model relates to the technical field of bottle cap production, in particular to a detection device adaptive to test dies of bottle cap dies of different bottle types, and solves the problems that in the prior art, the stable state of the bottle cap is difficult to effectively maintain by a feeding mode, so that the bottle cap is easy to displace or incline in the detection process, and the detection efficiency is high. The unstable state directly affects the detection result of the bottle cap, and the displaced or inclined bottle cap may cause that the detection probe cannot be accurately aligned with the key part of the bottle cap. A detection device adaptive to test molds of different bottle type bottle cap molds comprises a frame body, a top frame is fixedly connected to the top of the frame body, image recognition equipment is installed on the inner side of the top frame, and conveying rollers are rotationally connected to the two sides of the inner side of the frame body. The bottle cap feeding and detecting device effectively solves the problem that in the prior art, the stability of bottle caps is insufficient in the feeding and detecting process, and the stability of the bottle caps of different specifications in the conveying process is ensured through air-driven limiting adjustment of the distance and the design of the limiting inner side rollers.

The invention provides a control method and device for a vehicle actuator, electronic equipment and a storage medium. The control method comprises the steps that the current yaw velocity, the current longitudinal velocity and the limit stability radius of a vehicle and an intervention function of the actuator are obtained; acquiring a deviation value between a current state of the vehicle and a target stable state by utilizing the current yaw velocity, and acquiring a current stability factor by utilizing the deviation value and the limit stability radius; obtaining a stability factor control condition and a speed control condition of the actuator of the vehicle based on a control mechanism of the actuator for the vehicle; acquiring a current intervention degree value of the actuator by utilizing the intervention function, the current stability factor and the current longitudinal speed; and for any actuator, if the current stability factor meets the stability factor control condition and / or the current longitudinal speed meets the speed control condition, the actuator is controlled, the current yaw velocity is tried to be adjusted to the target yaw velocity according to the current intervention degree value, and optimal control over the vehicle by all the actuators is achieved.

To provide a rotary jig that makes it possible to hold and rotate a fastening component such as an eyebolt, another mechanical element having an annular head, or a fastener, as a target object, with good workability and in a stable state.SOLUTION: A rotary jig 1 comprises: a shank 10 which is rotatable by an external force applied from one end side thereof; and a hook 20 which is provided on the other end side of the shank 10 and on which a target object is to be hooked. The rotary jig 1 rotates the target object in accordance with a rotary force applied to the shank 10. The hook 20 has groove(s) 22 and / or 23 that is / are formed along the surface shape of the target object on a surface facing the target object which rotates in accordance with rotation of the hook 20 when the hook rotates with the target object hooked thereon.SELECTED DRAWING: Figure 1

The invention belongs to the technical field of milling, and particularly relates to a milling control method and system for a bearing ring, and the method comprises the steps: obtaining and analyzing a vibration signal and main shaft driving power of a machining system in real time, and calculating and obtaining a regeneration effect dominant index for quantifying chatter severity based on a ratio of a chatter amplitude value to a cutter tooth passing frequency amplitude value; multiplying the nonlinear function of the index by the time integral of the main shaft power to construct a dynamic cumulative disturbance factor capable of comprehensively reflecting the current stable state and the historical cumulative disturbance of the system, and dynamically adjusting the self-adaptive step length of the FXLMS control algorithm according to the disturbance factor; therefore, more efficient and robust active suppression of processing flutter is realized on the premise of ensuring the stability of the system.

According to the injection molding machine capable of conveniently and rapidly replacing the mold, an auxiliary supporting mechanism and a clamping mechanism are arranged on each of a fixed plate and a movable plate, the auxiliary supporting mechanisms can stably support the mold, and the mold does not need to be suspended for a long time by depending on a travelling crane; the auxiliary supporting mechanism can lift up and down to adjust the longitudinal position of the mold, the two clamping mechanisms arranged left and right in a spaced mode can slide left and right to adjust the transverse position to adapt to molds of different specifications, the mold is directly clamped and locked after position adjustment, and therefore mold position adjustment and locking installation can be rapidly completed; manpower input and time consumption for repeatedly adjusting the position of the mold are greatly reduced, and the mold changing efficiency is effectively improved; by means of supporting of the auxiliary supporting mechanism on the mold and clamping of the clamping mechanism on the mold, the mold can be kept in a stable state in the mold changing process, the instability situation caused when a traditional crane hovers is avoided, position deviation caused by mold shaking is avoided, and the possibility that the mold falls off due to poor stability is greatly reduced.

The application discloses a PID steering engine control method, device and equipment and a storage medium, and applies to the control field, and comprises the following steps: acquiring a steering engine state, acquiring the duration of an abnormal state if the steering engine state is the abnormal state, determining the adjustment level corresponding to Kp, Ki and Kd according to the abnormal state if the duration reaches a preset time, adjusting the steering engine according to the adjustment level until the steering engine reaches a stable state or PID parameters Kp=KPT, Kd=KDT and Ki=KIT, and KPT, KDT and KIT are parameters in the control parameter range of normal use of the steering engine. The method adjusts the PID progressive step through the adjustment level, changes the PID parameters of the matrix form into the ladder form, changes the steering engine state more smoothly, eliminates the abnormal state of the steering engine, and guarantees the performance of the steering engine.