54 results about "Vertical control" patented technology

The invention discloses a tunnel traffic control method and system for multi-mode traffic variable analysis, and relates to the field of general control or regulation systems, and the method comprises the steps: obtaining vehicle operation state information and pollutant concentration distribution data, determining a pollutant generation region based on a vehicle state, and calculating a concentration gradient value and a diffusion rate value. And analyzing the concentration change trend according to the spatial-temporal distribution relationship, and dividing a vertical control region. And setting initial operation parameters of the jet fan in a preset adjustment range and a step length according to the pollutant distribution characteristics of each area. And monitoring area concentration distribution in real time, when a target area exceeds the standard, dynamically adjusting fan parameters of the area and an adjacent area to preset values, and setting illumination parameters of illumination equipment in the vertical control area according to pollutant concentration distribution characteristics. By implementing the method, the accuracy of tunnel partition environment parameter adjustment can be improved.

The invention discloses a rock core drilling sampling device for coal mining, and relates to the field of coal mining, the rock core drilling sampling device comprises a base and a support frame, the support frame is fixed above the base, the middle part of the base is designed to be of an open structure, an outer cover body is arranged above the base, and a connecting frame is fixed above the outer cover body; a connecting frame is arranged above the outer cover body, a mounting seat is connected above the connecting frame, a vertical control mechanism is arranged above the mounting seat, the vertical control mechanism is connected with the supporting frame to control the vertical movement of the outer cover body, a sampling barrel is arranged in the outer cover body, and the upper part of the sampling barrel is designed to be of an opening-shaped structure. And the sampling barrel is rotationally connected with the outer cover body. According to the rock core drilling and sampling device for coal mining, through the arrangement of the hollow sampling barrel, the sampling barrel can permeate into a soil body to move, so that drilling and sampling can be synchronously carried out, a sampling hole does not need to be formed firstly, and the rock core drilling and sampling device is more convenient to use.

The invention discloses a TRD equipment construction vertical control method and system based on digital twinning, and relates to the technical field of TRD equipment construction control, and the method comprises the steps: creating a three-dimensional dynamic twinning body which is in fidelity synchronization with TRD equipment and a construction geological environment; connecting physical perception execution equipment, and driving the digital twin model to update synchronously; calling a vertical state sensing module, and identifying a hierarchical vertical state by using a preset vertical tolerance threshold; and carrying out strategy matching search, feeding back a vertical control adjustment strategy, and carrying out real-time operation response on TRD equipment. The technical problems that in the prior art, in traditional TRD equipment construction, perpendicularity control is prone to being affected by geological environment changes and equipment operation data feedback lag, so that equipment control precision is low, and construction quality is unstable are solved, accurate control over TRD equipment construction perpendicularity is achieved, and the construction quality is improved. And the construction quality and the equipment operation stability are improved.

The present invention relates to the field of deep-sea navigation and control technology, and in particular to a method for precise positioning of an underwater platform at great depth. The present invention comprises: a submersible device performs self-inspection; a coarse alignment is performed on the inertial navigation system of the submersible device to obtain an inertial navigation system after coarse alignment; a fine alignment is performed on the inertial navigation system after coarse alignment to obtain an inertial navigation system after fine alignment; an attitude adjustment is performed on the inertial navigation system after fine alignment to obtain an inertial navigation system after attitude adjustment; a vertical adjustment control is performed on the inertial navigation system after attitude adjustment to obtain an inertial navigation system after vertical adjustment control; a guidance main plane alignment control is performed on the inertial navigation system after vertical adjustment control to accurately adjust the attitude of the inertial navigation system. The present invention can effectively cope with various complex situations in the deep-sea environment, and maintain high-precision positioning and attitude control during autonomous operation, ensuring that the submersible device can operate stably and accurately collect data in deep-sea exploration missions.

The utility model provides a riverway sediment sampling device, relates to the technical field of riverway sediment sampling, and solves the problems that when low riverway sediment is sampled, the sediment is easily washed away by water flow and is difficult to take out due to an opening of a container, and the sampling of deep sediment needs to be shoveled obliquely, so that the sampling time is shortened. Therefore, the requirements on the length and the control of the sampling device are higher. A connecting rod is arranged in the middle of the body, a lifting rod is rotationally connected to the bottom of the connecting rod, a threaded groove is formed in the side wall of the connecting rod, and sampling assemblies are connected to the bottom of the lifting rod in a crossed mode and swing along a crossed point to be closed and separated. The sediment at the bottom of the river channel can be conveniently sampled through the sampling assembly arranged in the device, the sediment can be shoveled under vertical control, and deeper sediment can be conveniently taken out.

A multi-mode redundant model-free longitudinal control method for an autonomous driving vehicle includes: collecting a longitudinal control signal source; establishing an offline driving torque database and an offline braking pressure database; designing a model-free vehicle speed control strategy, calculating the expected driving torque of the vehicle speed and the expected braking pressure of the vehicle speed; designing a model-free acceleration control strategy, calculating the expected driving torque of acceleration; designing a model-free deceleration control strategy, calculating the expected braking pressure of deceleration; designing a model-free longitudinal control mode arbitration strategy according to the expected driving torque of the vehicle speed, the expected braking pressure of the vehicle speed, the expected driving torque of acceleration and the expected braking pressure of deceleration, outputting the requested driving torque and the requested braking pressure, and realizing longitudinal operation. The present invention can solve the stability problem of the longitudinal control of an autonomous driving vehicle when the vehicle model parameters are missing or the model parameters are uncertain, and prevent unexpected driving or braking caused by interference from factors such as program abnormalities and communication blockages.

The application relates to the technical field of land surveying, and discloses a land surveying automatic mapping device and method, which comprises a machine body assembly, a foot stand assembly is installed at the bottom of the machine body assembly, a protection mechanism is further arranged at the outer side of the machine body assembly, the protection mechanism comprises cover plates, the cover plates are movably installed on the machine body assembly, the cover plates are mutually spliced to form a cover body, the machine body assembly is located in the cover body, a dust suction box is further arranged in the protection mechanism, dust adhered to the machine body assembly in the cover body is sucked and removed, a limiting air blowing mechanism is further installed on the foot stand assembly, the machine body assembly comprises a base plate, the foot stand assembly is installed at the bottom of the base plate, a horizontal adjusting mechanism is installed on the base plate, an installation plate is installed on the horizontal adjusting mechanism, a machine body is installed on the installation plate, a front display screen is arranged at the front side of the machine body, a horizontal control screw is arranged on the machine body, and a vertical control screw is arranged on the machine body, so that the machine body is protected and dust is sucked.

The invention discloses a vehicle driving control method and device and a storage medium, and belongs to the technical field of vehicle control. The method comprises: collecting a video image of a road in front of a vehicle; extracting edge information of the preceding vehicle from the video image, wherein the edge information of the preceding vehicle includes a bottom edge line of the preceding vehicle; calculating a vertical run-out value of the bottom edge line of the front vehicle; determining the pothole degree of the road in front of the vehicle based on the vertical run-out value, wherein the pothole degree comprises no pothole, light pothole and heavy pothole; and adjusting vertical control of the vehicle in response to the fact that the potholes are light potholes or heavy potholes. According to the method, preparation for coping with the front bumpy road surface is made in advance, prediction and adaptation of the vehicle to the bumpy degree of the road surface are achieved, and under the condition that cost and energy consumption are controlled, the safety and stability of the vehicle running under the bumpy road surface are improved.

The present invention discloses a ramp merging longitudinal control method and device that integrates virtual queues and lane-changing rules. Intelligent networked vehicles in the ramp merging area obtain position and speed information; the ramp vehicle positions are projected onto the main road to form a virtual queue; the lane-changing rules are determined, and the control model is determined by the lane-changing rules, and finally the longitudinal acceleration of the vehicle is determined. The ramp merging process is converted into a special following process to make the merging process smoother; a control model based on lane-changing rules is established so that the vehicle speed and position are adjusted so that the vehicle can merge smoothly after reaching the merging area.

The invention belongs to the technical field of engineering operation machinery, and particularly relates to a comprehensive operation vehicle, a control method and system thereof and a machine readable storage medium. According to the control method, the horizontal control distance and the vertical control distance of the rod grabber are determined by obtaining the distance between the rotation center line of a chassis and the center axis of a base hole in the horizontal direction and the distance between the bottom of a rod piece and the bottom of the base hole in the vertical direction; and then the rod grabbing device is controlled to move downwards by a vertical control distance, and it is guaranteed that the horizontal actual distance between the grabbing axis of the rod grabbing device and the rotation center line is the horizontal control distance in the moving process, so that the rod piece can smoothly enter the base hole after reaching the position over the base hole, and then the construction efficiency of rod erecting operation is improved.

The utility model belongs to the technical field of detection tools, and particularly relates to an electromagnetic chuck table board detection device which comprises two clamping seats, a tension detector and two proximity switches, one side of each clamping seat is fixedly connected with a vertical control block, one side of each vertical control block is slidably connected with a synchronous block, and the synchronous blocks are connected with the tension detector. One side of each vertical control block is fixedly connected with one vertical control block, the other side of each vertical control block is slidably connected with a limiting block, the two limiting blocks slide in the two synchronous blocks respectively, one side of each synchronous block is fixedly connected with a horizontal positioning rod, and the outer side of each horizontal positioning rod is slidably connected with a linkage seat. Through cooperation of the vertical control block, the horizontal positioning rod and other parts, when a worker carries out magnetic force detection on the electromagnetic chuck table board, the detection positions can be accurately controlled, so that the intervals of the detection positions are kept the same, the uniformity of magnetic force detection on the table board is ensured, the tension is kept at the same angle, and the working efficiency is improved. Therefore, the detection effect on the magnetic force of the table board is finally ensured.

The application provides a leveling landing method and device for an active vibration isolation system, which comprises the following steps: maintaining an inner world of the active vibration isolation system in a horizontal stable position and a vertical stable position for a first preset time period; after the first preset time period ends, terminating vertical control of a motor position loop, reducing pressure of a pneumatic loop to a set value at a set rate, and maintaining the horizontal control in a working state, so that the inner world performs landing under the action of the horizontal control; and when a vertical position sensor of the pneumatic loop detects that a vertical position change amount of the inner world in a second preset time period is less than a first preset threshold, the horizontal control is terminated. Through the application, the inner world can be stably and slowly landed in a controlled state in a parallel manner of vertical release and horizontal holding during the landing process of the inner world, so as to reduce impact damage of precise parts in the landing process.

This invention discloses a vertical drilling device for pole erection and its drilling control method, comprising a first boom and a second boom hinged together. The rear end of the first boom is hinged to a slewing platform, and the front end of the second boom is hinged to a drilling rig. A first hydraulic cylinder is hinged between the first boom and the slewing platform, and a second hydraulic cylinder is hinged between the first boom and the second boom. A first tilt sensor is installed on the first boom, and a second tilt sensor is installed on the second boom. The drilling device is mounted on an excavator via the slewing platform. The tilt sensors measure the tilt angle of the two boom sections and provide real-time feedback to the controller. A vertical control method automatically achieves the coordinated movement of the two boom sections. The operator only needs to operate one handle to automatically lower the drill rod vertically, effectively reducing the complexity of operating the drilling device. Due to the automatic control of the drilling device, construction efficiency and the verticality of the hole during drilling are effectively improved. This invention effectively achieves its objectives of reducing operational difficulty, improving drilling efficiency, and enhancing drilling quality.

The invention belongs to the technical field of aircraft system assembly and measurement, and relates to a large aircraft inclined vertical control surface deflection angle measuring device and a testing method. The device is fixedly installed based on a control surface suspension support arm and a control surface suspension of an aircraft body, when the aircraft is subjected to inertial motion of a control surface, the whole device moves along with the aircraft, the measurement result is not influenced, and meanwhile, in order to solve the problems of non-direct angle measurement and errors and mistakes caused by conversion, a method of directly measuring the rotation angle of the control surface is adopted. Therefore, the purpose of stably, effectively, simply, conveniently and quickly measuring the deflection angle of the control surface is achieved.

A flight control method, a drone, an electronic device, and a medium. The method comprises: obtaining terrain information (101) corresponding to a flight mission area of ​​the drone; obtaining current ground altitude information of the drone (102); and adjusting a vertical speed control parameter (103) of the drone based on the terrain information and the ground altitude information. The drone is able to adjust its ground altitude relative to the ground or an operating object in a timely manner, thereby ensuring a ground-simulating effect, avoiding risks caused by vertical control lag of the drone, and improving the safety and efficiency of drone operations.

The invention relates to a method for creating undistorted projections on the surface of real-world objects in the case of artistic lighting of buildings, structures and similar objects, and in the case of light markings at industrial facilities and on civil objects. The method comprises performing geodetic measurements of the objects and their spatial surroundings to create a vertical control network, performing photogrammetric measurements or laser scans of the real-world objects to be projected thereon and objects in their spatial surroundings, creating a 3D model of the real-world objects, during the rendering process, real-world objects are referenced to a given coordinate system, a projection zone is determined and calculated, the position of the projector is calculated, taking into account the position of an object in the space surrounding that blocks the path of the projection beam from the projector to the object on which it is to be projected. The method includes creating a model of a "source (projector)-screen" system using coordinates obtained in a 3D modeling process, transmitting a projected image onto a gobo picture, installing a projector according to coordinates of a virtual projector in the 3D model of the real-world object, placing the picture with the image into the projector, and projecting the image onto a surface of the real-world object.

The invention discloses a global finite time ship trajectory tracking control method considering input limitation, and the method comprises the steps: obtaining a longitudinal trajectory tracking error xe and a transverse trajectory tracking error ye through an actual trajectory and an expected trajectory of a ship, combining the longitudinal trajectory tracking error xe with a piecewise function kz to design a first new error zx, designing a second new error zy by combining the transverse trajectory tracking error ye with the piecewise function kz, and designing an expected longitudinal speed ud and an expected transverse speed vd through the first new error zx and the second new error zy; designing a first finite time sliding mode surface s1 through the difference ue between the actual longitudinal speed u and the expected longitudinal speed ud, and designing a second finite time sliding mode surface s2 through the difference ve between the actual transverse speed v and the expected transverse speed vd; longitudinal control force Tuc is designed based on s1, yawing control torque Trc is designed based on s2, ue and ve are converged through the longitudinal control force Tuc and the yawing control torque Trc, and when ue and ve are converged, trajectory tracking of the ship is achieved.

Provided is a fabricated rapid construction platform for a bridge, including a fixing frame, an upper-layer tubular pile position control structure, a lower-layer tubular pile position control structure, and a console, the fixing frame includes a bottom rail platform, supporting posts, a top operation platform, and several supporting legs; the upper-layer tubular pile position control structure and the lower-layer tubular pile position control structure are provided between the bottom rail platform and the top operation platform; the upper-layer tubular pile position control structure includes two sub-structures arranged symmetrically about the central axis of a second through hole, and each sub-structure includes a braking device, a vertical control arm, and a horizontal control arm. The lower-layer tubular pile position control structure includes an annular frame, a revolution driving device, and four lower control arms.

The present application relates to the technical field of pressure sensitive adhesive production monitoring, and particularly relates to a pressure sensitive adhesive online production analysis method and system based on data monitoring. The method comprises the following steps: deploying a coating data monitoring network on a coating production line; synchronously obtaining coating real-time monitoring data containing coating thickness data and coating pressure data online through the coating data monitoring network; performing horizontal and vertical decoupling analysis and pressure disturbance feature based on the coating thickness data in the coating real-time monitoring data, then determining the defect source type, and generating corresponding vertical control instructions, horizontal control instructions or step-by-step cooperative control instructions according to the defect source type, so as to realize real-time automatic control of the horizontal and vertical thickness of the wide-width pressure sensitive adhesive coating. The present application realizes accurate determination of the defect source through online correlation diagnosis of the coating thickness and process pressure data, so as to complete real-time regulation of the horizontal and vertical thickness.

The invention provides a data acquisition system and method for a track control network in a tunnel, and the system comprises an outer sleeve which is provided with a triangular pedestal at the bottom and a middle diaphragm plate in the middle. The internal operation platform in the outer sleeve comprises an annular battery pack, a slewing bearing, an X-axis rotating mechanism, a Y-axis rotating mechanism, a vertical control mechanism, a visual camera module, a laser ranging assembly and a double-axis dip angle measurement module. The azimuth angle and the pitch angle are accurately controlled and calculated through the servo motor, the visual camera and the laser distance measuring instrument automatically recognize and measure a plurality of track control point positions, absolute coordinates of the control point positions are automatically calculated, and the measurement efficiency is effectively improved; a balancing weight is arranged in the device to control the measuring platform to keep horizontal, meanwhile, an inclination sensor is arranged to effectively calculate inclination angle changes caused by gravity center changes when the measuring platform rotates around a shaft, and compensation is conducted through calculation. And the damping liquid is filled around the balancing weight, so that the influence of micro-vibration of the motor on the measurement precision is inhibited.

The invention discloses a centrally-mounted vertical drilling mechanism and a using method, and relates to the technical field of drilling mechanisms, the centrally-mounted vertical drilling mechanism comprises a lower cover plate, a front cover is arranged at the top of the lower cover plate close to the left side, a rear cover is arranged at the top of the lower cover plate close to the right side, antennas are arranged at the tops of the front cover and the rear cover, and a chassis is arranged at the bottom of the lower cover plate; crawlers are arranged on the front side and the rear side of the chassis, a plurality of thrust wheels are arranged at the positions, close to the center, of the front side and the rear side of the chassis, and real-time vertical control (+ / -0.5-degree precision) of a drill bit on a dynamic sloping field is achieved through a sensing-decision-execution closed-loop framework based on a multi-sensor fusion active vertical control system. Compared with the prior art, the scheme solves the three bottlenecks of insufficient manual operation precision (+ / -10 degrees), mechanical adjustment delay (gt, 3 seconds) and open-loop control failure in a breakthrough manner.

The present invention relates to the technical field of construction machinery, and discloses a control method, a controller, a device and a construction equipment for the outriggers of construction equipment. The construction equipment includes a boom and outriggers, and the control method includes: in response to a received outrigger control instruction, obtaining the attitude of the boom, wherein the outrigger control instruction includes a horizontal control instruction for swinging or extending / retracting the outrigger and a vertical control instruction for adjusting the elongation of the outrigger; obtaining the force state of the outrigger corresponding to the outrigger control instruction; and restricting the vertical control and horizontal control of the corresponding outrigger when the attitude is that the boom is not fully retracted and the force state is that the force value is greater than a preset threshold. It can avoid the safety hazards caused by the outrigger valve responding to the outrigger control instruction, use the machine to make judgments and restrictions, avoid human subjective judgments and unrestricted operations, the reliability of the equipment control response is higher, improve the operation safety of the equipment, and meet the requirements of the industry standards for the operation safety of the equipment.

The invention relates to the technical field of grain detection and sampling, in particular to a marine aggregate and division all-in-one machine which comprises a sampling assembly and a division assembly, the sampling assembly comprises a grain pile base and an aggregate sampling rod, a control bearing seat is arranged at the upper end of the grain pile base, and a telescopic arm assembly is rotationally arranged at the upper end of the control bearing seat; the telescopic arm assembly comprises a supporting sleeve beam, a first telescopic arm and a second telescopic arm, when the device is used for collecting and dividing, the device is lifted to be placed above grains of a ship, and then multi-point grain collecting and sampling are achieved through the telescopic arm assembly and the vertical control assembly of the sampling assembly; meanwhile, the device is placed on grains, the influence of damage to an aggregate sampling rod caused by ship floating can be avoided, the sampling efficiency and quality of division can be rapidly improved in cooperation with treatment of a stirring frame and two conical center cylinders in the division link after material collection, and operation is free of worry and convenient.

The utility model belongs to the technical field of indoor tests of highway engineering, and particularly relates to a flame-retardant smoke-suppression performance testing instrument for asphalt materials, a first screw rod is matched with a sliding block, so that the left-right displacement of a sample can be adjusted only by rotating a horizontal knob, the testing instrument is simple to operate, and the testing efficiency is improved. The vertical control assembly can rapidly adjust the vertical position of a sample, meanwhile, the display assembly can display the numerical value corresponding to the position of the clamping assembly, the sample can be conveniently and accurately adjusted to the accurate position, the accuracy of equipment test data is improved, meanwhile, the equipment use convenience is improved, and the rotating shaft and a gear sleeve are matched, so that the test accuracy is improved. When the sliding block is located at any left-right position, the vertical rotating wheel can independently control lifting of the clamping assembly, meanwhile, the design that the vertical rotary knob is arranged on the side face of the horizontal rotary knob enables workers to adjust equipment more conveniently, the situation that the workers do not need to distract attention or adjust postures among multiple positions is avoided, and the working efficiency is improved.

The utility model relates to a device for controlling the downward insertion perpendicularity of H-shaped steel in an equal-thickness cement soil wall, which comprises a fixed clamping seat, a level bubble arranged on the fixed clamping seat, a plurality of adjustable supporting legs arranged at the bottom of the fixed clamping seat, a positioning base arranged on the fixed clamping seat, the positioning base is provided with a plurality of clamping holes used for containing H-shaped steel fixing clamps and enabling the H-shaped steel fixing clamps to be in a vertical state, and the size of an inner cavity of each H-shaped steel fixing clamp is the same as the size of the section of H-shaped steel to be inserted into the equal-thickness cement-soil wall. The H-shaped steel positioning device has the beneficial effects that the H-shaped steel can be accurately positioned in the equal-thickness cement-soil wall, the inserting perpendicularity of the H-shaped steel in the equal-thickness cement-soil wall is effectively improved, the longitudinal and transverse deviation and the perpendicularity of the H-shaped steel are accurately controlled, and the perpendicularity of the inserted section steel meeting the requirements of specifications is not larger than 1 / 250.

The utility model discloses an elevator control cabinet with an insulation function, and aims to solve the technical problems that in the prior art, when an equipment frame is replaced or maintained, the whole control cabinet often needs to be disassembled, inconvenience is caused, and potential safety hazards possibly occur in the operation process. The elevator control cabinet comprises a vertical control cabinet, two sealing cabinet doors capable of being opened and closed are arranged on one side of the vertical control cabinet, and an electric leakage detector is arranged on the outer side of the vertical control cabinet; the movable rectangular clamping blocks are arranged at the four end corners in the vertical control cabinet, the rectangular equipment frame is arranged among the multiple rectangular clamping blocks, the rectangular equipment box is arranged on the other side of the vertical control cabinet, the rectangular equipment frame can be effectively clamped, the vertical control cabinet can flexibly adapt to rectangular equipment frames of different models, stable installation of the vertical control cabinet is ensured, and the service life of the vertical control cabinet is prolonged. And an insulating rubber material is arranged in the rectangular clamping block, so that the insulating efficiency is greatly improved.

The present invention discloses a distributed ramp merging longitudinal control method considering main road vehicle cooperation and trajectory tracking. The method comprises: road test facilities collect main road traffic flow information and ramp traffic flow information and publish them to vehicles in the merging area, and calculate the number of vehicles required for main road cooperation; the ramp vehicle obtains the position information of the main road vehicles within the communication radius and whether it cooperates with other ramp vehicles; determines the control mode of the main road cooperative vehicle, calculates the tracking target trajectory, determines the main road cooperative vehicle set, and publishes control instructions to the main road cooperative vehicle; establishes a ramp vehicle longitudinal control kinematic model and an MPC trajectory tracking model; determines the ramp vehicle longitudinal control constraints, determines the ramp vehicle longitudinal control cost function, solves the control acceleration and controls it.

The invention relates to a building waterproof roll construction device. The device comprises a bearing box; the laying mechanism is used for storing, laying and scattering waterproof coiled materials; the moving mechanism is used for realizing automatic movement of the bearing box along the top surface and the side surface of the building outer wall; the moving mechanism comprises a horizontal control assembly used for achieving movement of the bearing box along the top face of the outer wall of the building. The vertical control assembly is used for achieving movement of the bearing box along the side face of the building outer wall; the horizontal control assembly comprises a horizontal rail parallel to the top face of the building outer wall and a horizontal power part used for controlling the bearing box to automatically move along the horizontal rail. And the horizontal connecting part is used for realizing the connection between the horizontal power part and the bearing box. After the laying direction is converted, the effect of automatically and intelligently laying the waterproof coiled materials on the top face and the side of the building outer wall is achieved.

The application provides a vehicle ride comfort cooperative control method for random road surfaces, comprising the following steps: step one, collecting vehicle signals and calculating through a random forest model road surface grade recognition algorithm, calculating the time domain characteristics and frequency domain characteristics of all the vehicle signals in a preset sampling period as input variables of the recognition algorithm, and outputting a road surface grade recognition result; step two, adopting a longitudinal-vertical coupling active disturbance rejection control algorithm, and building a longitudinal observer and a vertical observer, each observing its own state and total disturbance, and decoupling the longitudinal disturbance observation value and the vertical disturbance observation value; combining the road surface grade recognition result to adaptively adjust the bandwidth of the longitudinal observer and the vertical observer and the bandwidth of the longitudinal controller and the vertical controller; step four, substituting the longitudinal disturbance observation value into the vertical controller to obtain a vertical control instruction, and substituting the vertical disturbance observation value into the longitudinal controller to obtain a longitudinal control instruction.

The compact layered water intake tower comprises a working chamber of a vertical structure, the top of the working chamber is connected with a control chamber, the side surface of the working chamber is connected with a lug room, and the interior of the working chamber is connected with a water diversion treatment section; the control room is provided with opening and closing equipment, the working room comprises an upper-layer water taking section, a middle-layer water taking section and a lower-layer water taking section, and an orifice is formed in the right side of the working room and higher than the upstream water level A vertical control gate groove is formed in the working chamber and is in sliding fit with the control gate; a plurality of access doors are vertically formed in the surface of one side of the working chamber; the device solves the technical problems that in the prior art, too many service gates of a water intake tower are arranged in the horizontal direction, equipment in a working room is not arranged compactly, the service gates are too large in size and inconvenient to overhaul, the trash holding structure is incomplete, and large potential safety hazards exist, the ball valves are used for replacing emergency gates, and the function of convenient and fast installation is achieved; and when an accident occurs, the ball valve can be rapidly and emergently closed, and danger is avoided.