CN109507881A - A kind of ceramics seep the Distributed Predictive Control method and system of flower ink preparation process - Google Patents
A kind of ceramics seep the Distributed Predictive Control method and system of flower ink preparation process Download PDFInfo
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Abstract
The invention discloses the Distributed Predictive Control method and system that a kind of ceramics seep flower ink preparation process, method includes: to establish ceramics to seep flower ink preparation process reaction kettle liquid level control system model, and carry out system distribution division；Flower ink preparation process reaction kettle liquid level control system model is seeped according to ceramics, flower ink preparation process is seeped to ceramics and carries out Distributed Predictive Control.Distributed Predictive Control is applied to the Liquid level that ceramics infiltration spends ink preparation process by establishing ceramic infiltration flower ink preparation process reaction kettle liquid level control system model by the present invention, correlation theory application of result is seeped in flower ink preparation process system in ceramics, the degree of intelligence that ceramics seep flower ink preparation can greatly be improved, it is strategic to low-carbon economy is realized, promote ceramic clean manufacturing and industrial upgrading to be of great significance, there is good industrialization prospect.It the composite can be widely applied to ceramics to seep in flower ink technology of preparing.
Description
Technical field
The present invention relates to the Distributed Predictive controls that control technology field more particularly to a kind of ceramics seep flower ink preparation process
Method and system processed.
Background technique
China is Production of Ceramics big country, ceramic yield column the first in the world for years.It is built in China or even the whole world
It builds in the domain of china industry, Guangdong tile industry undoubtedly possesses very important status: Guangdong Province's architectural pottery yield accounts for about
Global 30%, national 60%, export volume account for the 70% of the whole nation；Large quantities of influence powers all great at home and abroad build pottery enterprise
Industry is assembled herein.Guangdong ceramic enterprise product quality, in terms of go on along forefront of going together at home, lead
State's architectural ceramic industry is advanced with big strides.On the other hand, tile industry not only promotes the development of Guangdong Economic, and has also driven ceramics
The development of the related industries such as raw material manufacturing industry, equipment manufacture, colour glaze industry, auxiliary material industry, achieves noticeable achievement.
Although ceramic ink jet printing technology significant increase Antique Imitation Tiles, glaze, the decoration effect of the tile products such as microlite are thrown entirely
Fruit；But ceramics seep the preparation process of flower ink and its ink-jet polished bricks and produce there are still urgent problem to be solved, infiltration spends ink
The automatic control level of water preparation process is also relatively low, leads to that production efficiency is low, product quality is difficult to manage.
Summary of the invention
In order to solve the above-mentioned technical problem, it is an object of the invention to provide the distributions that a kind of ceramics seep flower ink preparation process
Forecast Control Algorithm and system.
The technical solution used in the present invention is:
A kind of ceramics seep the Distributed Predictive Control method of flower ink preparation process, comprising the following steps:
It establishes ceramics and seeps flower ink preparation process reaction kettle liquid level control system model, and carry out system distribution division；
Flower ink preparation process reaction kettle liquid level control system model is seeped according to ceramics, flower ink preparation process is seeped to ceramics and is carried out
Distributed Predictive Control.
The Distributed Predictive Control further improvements in methods of flower ink preparation process are seeped as a kind of ceramics, also
The following steps are included:
Performance indicator in flower ink preparation process reaction kettle liquid level control system model is seeped to ceramics and carries out online rolling optimization,
Obtain the control input value optimized.
The Distributed Predictive Control further improvements in methods of flower ink preparation process are seeped as a kind of ceramics, also
The following steps are included:
By ceramics seep flower ink preparation process reaction kettle liquid level control system model prediction future output when, if predicted value and
There are reality output errors between actual measured value, then reality output error propagation to ceramics are seeped flower ink preparation process reaction
The input terminal of kettle liquid position system model carries out feedback compensation.
The Distributed Predictive Control further improvements in methods of flower ink preparation process, institute are seeped as a kind of ceramics
The foundation ceramics stated seep flower ink preparation process reaction kettle liquid level control system model, and carry out system distribution division, the step for
It specifically includes:
The first reaction kettle, the second reaction kettle, third reaction kettle and the 4th reaction kettle are modeled respectively, it is anti-to obtain first
Answer kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model；
According to the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model, establish
Obtain state-space model；
According to the first reaction kettle model, the second reaction kettle model, third reaction kettle model, the 4th reaction kettle model and state
Spatial model obtains ceramics and seeps flower ink preparation process reaction kettle liquid level control system model；
Respectively to the Distributed Predictive Control device of each mixer design one its corresponding subsystem；
Each Distributed Predictive Control device is iterated interaction by iterative algorithm in each sampling period.
The Distributed Predictive Control further improvements in methods of flower ink preparation process, institute are seeped as a kind of ceramics
State the first reaction kettle model are as follows:
Wherein, A1Indicate the sectional area of the first reaction kettle, h1Indicate the liquid level of the first reaction kettle, a1Indicate the first reaction kettle
Outflux sectional area, v1Indicate the adjustable input of the first water pump, the i.e. revolving speed of the first water pump, u1It is the first pump rotary speed
Control signal；k1Indicate the revolving speed gain of the first water pump, γ1Indicate that the first water pump is sent to the shunt ratio of high-order reaction kettle, g=
981cm/s2Indicate acceleration of gravity；D indicates unmodeled disturbance.
The Distributed Predictive Control further improvements in methods of flower ink preparation process, institute are seeped as a kind of ceramics
State the second reaction kettle model are as follows:
Wherein, A2Indicate the sectional area of the second reaction kettle, h2Indicate the liquid level of the second reaction kettle, a2Indicate the second reaction kettle
Outflux sectional area, v2Indicate the adjustable input of the second water pump, the i.e. revolving speed of the second water pump, u2It is the second pump rotary speed
Control signal；k2Indicate the revolving speed gain of the second water pump, γ2Indicate that the second water pump is sent to the shunt ratio of high-order reaction kettle.
The Distributed Predictive Control further improvements in methods of flower ink preparation process, institute are seeped as a kind of ceramics
State third reaction kettle model are as follows:
Wherein, A3Indicate the sectional area of third reaction kettle, h3Indicate the liquid level of third reaction kettle, a3Indicate third reaction kettle
Outflux sectional area.
The Distributed Predictive Control further improvements in methods of flower ink preparation process, institute are seeped as a kind of ceramics
State the 4th reaction kettle model are as follows:
Wherein, A4Indicate the sectional area of the 4th reaction kettle, h4Indicate the liquid level of the 4th reaction kettle, a4Indicate the 4th reaction kettle
Outflux sectional area.
Another technical solution of the present invention is:
A kind of ceramics seep the Distributed Predictive Control System of flower ink preparation process, comprising:
Model foundation unit seeps flower ink preparation process reaction kettle liquid level control system model for establishing ceramics, and is
System is distributed to be divided；
Predicting unit spends ink to ceramics infiltration for seeping flower ink preparation process reaction kettle liquid level control system model according to ceramics
Water preparation process carries out Distributed Predictive Control.
The further improvement of the Distributed Predictive Control System of flower ink preparation process, institute are seeped as a kind of ceramics
The model foundation unit stated specifically includes:
Reaction kettle modeling unit, for respectively to the first reaction kettle, the second reaction kettle, third reaction kettle and the 4th reaction kettle
It is modeled, obtains the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model；
State space modeling unit, for according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model
With the 4th reaction kettle model, foundation obtains state-space model；
System model unit, for according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model, the
Four reaction kettle models and state-space model obtain ceramics and seep flower ink preparation process reaction kettle liquid level control system model；
Design cell, for the Distributed Predictive Control device respectively to each mixer design one its corresponding subsystem；
Iteration unit is iterated friendship by iterative algorithm for each Distributed Predictive Control device in each sampling period
Mutually.
The beneficial effects of the present invention are:
A kind of ceramics of the present invention seep the Distributed Predictive Control method and system of flower ink preparation process by establishing ceramics
It seeps flower ink preparation process reaction kettle liquid level control system model and Distributed Predictive Control is applied to ceramics infiltration flower ink preparation process
Liquid level, correlation theory application of result in ceramics seep flower ink preparation process system in, can greatly improve ceramics seep flower
The degree of intelligence of ink preparation promotes ceramic clean manufacturing and industrial upgrading to be of great significance to low-carbon economy strategy is realized,
With good industrialization prospect.
Detailed description of the invention
Fig. 1 is the step flow chart for the Distributed Predictive Control method that a kind of ceramics of the present invention seep flower ink preparation process；
Fig. 2 is the block diagram for the Distributed Predictive Control System that a kind of ceramics of the present invention seep flower ink preparation process；
Fig. 3 is the structural schematic diagram of the embodiment of the present invention；
Fig. 4 is the schematic illustration of distributed AC servo system in the embodiment of the present invention.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
With reference to Fig. 1, a kind of ceramics of the present invention seep the Distributed Predictive Control method of flower ink preparation process, including following step
It is rapid:
It establishes ceramics and seeps flower ink preparation process reaction kettle liquid level control system model, and carry out system distribution division；
Flower ink preparation process reaction kettle liquid level control system model is seeped according to ceramics, flower ink preparation process is seeped to ceramics and is carried out
Distributed Predictive Control.
It is further used as preferred embodiment, further comprising the steps of:
Performance indicator in flower ink preparation process reaction kettle liquid level control system model is seeped to ceramics and carries out online rolling optimization,
Obtain the control input value optimized.
It is further used as preferred embodiment, further comprising the steps of:
By ceramics seep flower ink preparation process reaction kettle liquid level control system model prediction future output when, if predicted value and
There are reality output errors between actual measured value, then reality output error propagation to ceramics are seeped flower ink preparation process reaction
The input terminal of kettle liquid position system model carries out feedback compensation.
It is further used as preferred embodiment, the foundation ceramics seep flower ink preparation process reaction kettle liquid level control system
Model, and carry out system distribution division, the step for specifically include:
The first reaction kettle, the second reaction kettle, third reaction kettle and the 4th reaction kettle are modeled respectively, it is anti-to obtain first
Answer kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model；
According to the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model, establish
Obtain state-space model；
According to the first reaction kettle model, the second reaction kettle model, third reaction kettle model, the 4th reaction kettle model and state
Spatial model obtains ceramics and seeps flower ink preparation process reaction kettle liquid level control system model；
Respectively to the Distributed Predictive Control device of each mixer design one its corresponding subsystem；
Each Distributed Predictive Control device is iterated interaction by iterative algorithm in each sampling period.
In the embodiment of the present invention, ink preparation process includes four reaction kettles, the structure of four reaction kettles such as 3 institute of attached drawing
Show, preparation process is as follows: two manipulating variables are pump rotary speed, and two controlled variables are the first reaction kettle and the second reaction kettle
Liquid level.First water pump and the second pump handle ink are sent to four reaction kettles from inkwell, in high-order third reaction kettle and the
Four reaction kettles are automatically discharged to reaction kettle the first reaction kettle and the second reaction kettle of low level, the first reaction kettle and the second reaction kettle
Liquid level can measure, while Auto-drainage pipeline also influences whether the liquid level of two reaction kettles of low level.
The first reaction kettle model are as follows:
Wherein, A1Indicate the sectional area of the first reaction kettle, h1Indicate the liquid level of the first reaction kettle, a1Indicate the first reaction kettle
Outflux sectional area, v1Indicate the adjustable input of the first water pump, the i.e. revolving speed of the first water pump, u1It is the first pump rotary speed
Control signal；k1Indicate the revolving speed gain of the first water pump, γ1Indicate that the first water pump is sent to the shunt ratio of high-order reaction kettle, g=
981cm/s2Indicate acceleration of gravity；D indicates unmodeled disturbance.
The second reaction kettle model are as follows:
Wherein, A2Indicate the sectional area of the second reaction kettle, h2Indicate the liquid level of the second reaction kettle, a2Indicate the second reaction kettle
Outflux sectional area, v2Indicate the adjustable input of the second water pump, the i.e. revolving speed of the second water pump, u2It is the second pump rotary speed
Control signal；k2Indicate the revolving speed gain of the second water pump, γ2Indicate that the second water pump is sent to the shunt ratio of high-order reaction kettle.
The third reaction kettle model are as follows:
Wherein, A3Indicate the sectional area of third reaction kettle, h3Indicate the liquid level of third reaction kettle, a3Indicate third reaction kettle
Outflux sectional area.
The 4th reaction kettle model are as follows:
Wherein, A4Indicate the sectional area of the 4th reaction kettle, h4Indicate the liquid level of the 4th reaction kettle, a4Indicate the 4th reaction kettle
Outflux sectional area.
The adjustable revolving speed v of first water pump1Dynamic are as follows:
Wherein, τ1For the adjustment factor of the first water pump.
The adjustable revolving speed v of second water pump2Dynamic are as follows:
Wherein, τ2For the adjustment factor of the second water pump.
So far, model (1)-(6) that ceramics seep flower ink preparation process are established.
The present invention proposes that the ceramics based on distributed model predictive control seep flower ink preparation process control, it is therefore desirable to build
Vertical ceramics seep the state space of flower ink preparation process, enable y (k)=[h1(k) h2(k)]T, uT(k)=[u1(k) u2(k)]TAnd
xT(k)=[h1(k) h3(k) v2(k) v1(k) h2(k) h4(k)]T, and discretization is carried out to system, obtain discretization state
Spatial expression:
Y (k)=Cx (k) (7)
Relevant parameter is substituted into, correlated condition spatial parameter is obtained:
Above-mentioned (7) are Controlling model of the invention.In turn, distributed division is carried out to the system, i.e., according to input
Number is split matrix B, obtains:
Y (k)=Cx (k) (8)
The flow control signal u that the control input of above-mentioned model pumps for two1(k),u2(k), the present invention is according to model (8)
The control signal pumped to two is designed, and obtains the optimal control policy of water pump.
The present invention proposes Distributed Predictive Control design scheme: the control of reaction process is inputted u by the present inventionT(k)=[u1
(k) u2(k)]TIt is divided into two set, independent optimization control design case is carried out to the control input of each pump.
It enables
Assuming that the system is made of 2 subsystems, correspondingly, the control input of the 1st subsystem is u1,k, the control of the 2nd subsystem
System input is u2,k.For system (8), it is contemplated that the performance indicator of following subsystem 1 are as follows:
The performance indicator of subsystem 2:
Wherein, Q ∈ Rn, R1, R2State weight is respectively indicated, the weight and non-present of current optimization input optimize input
Weight.Pi,f(xi(k+N | k))=xT(k+N|k)Pi,kX (k+N | k),It is end conswtraint collection.
Consider the state and input constraint of following nominal system:
xk+l|k∈X,l∈[1,N-1](11)
ui,k+l|k∈Ui,i∈[1,2],l∈[0,N-1] (12)
Wherein, X, UiIt is polyhedron set:
Gxk+l|k≤di,l∈[1,N-1] (13)
Wiui,k+l|k≤hi,i∈[1,M],l∈[0,N-1] (14)
X, UiIt is the conjunction of compacting comprising zero point, the status predication of p in future step may be expressed as:
Wherein,
In sampling instant k, solves following optimization problem and obtains i-th of control input:
Wherein,
The solution of controller: (15) are updated to Ji(k) have, and enable
The distributed model prediction algorithm (16) for seeping flower ink preparation process, which can be exchanged into, solves following quadratic programming problem to solve:
s.t.Wiui,k+l|k≤hi,l∈[0,N-1] (17)
Wherein, positive definite matrix HiForm be
And fiIt is represented by
For unconfined nominal system, the analytic solutions of our available control inputs
In a sampling instant, only chooseIn first control inputIt is applied to system, wherein
With reference to Fig. 4, in the present embodiment, the optimization of the infiltration flower ink preparation process based on Distributed Predictive Control is as follows:
S1: line solver seeps the model (7) of flower ink preparation process, and is decomposed according to (8) to model, to execute base
Flower ink preparation process Liquid level is seeped in the ceramics of Distributed Predictive Control, and model basis is provided；
S2: it in sampling instant k=0, gives one group of feasible pump rotary speed and controls signal Ui,k|k, given initial value is 0 herein；
S3: in sampling instant k, each subsystem connects exchange U by signali,k|k, exchanged form is to exchange two-by-two, this implementation
In example, multi-machine system is divided into two subsystems, and the signal of subsystems exchanges, such as
At this point, enabling initial time the number of iterations t=1；
S4: (17) are solved to obtainThe error given for one allows threshold epsiloni, by checking conditionGuarantee convergence.If convergence conditions are to meet,As current time
Optimum torque setting；Otherwise, it enablesT=t+1 exchanges control law again and repeats S4；
S5: by Ui,k|kIt is applied to corresponding subsystem, enable moment k=k+1 and returns to S4.
The controller needs of the Distributed Predictive Control method that above-mentioned steps are related to, each subsystem are repeatedly interacted,
Until set qualifications are to meet.
With reference to Fig. 2, a kind of ceramics of the present invention seep the Distributed Predictive Control System of flower ink preparation process, comprising:
Model foundation unit seeps flower ink preparation process reaction kettle liquid level control system model for establishing ceramics, and is
System is distributed to be divided；
Predicting unit spends ink to ceramics infiltration for seeping flower ink preparation process reaction kettle liquid level control system model according to ceramics
Water preparation process carries out Distributed Predictive Control.
It is further used as preferred embodiment, the model foundation unit specifically includes:
Reaction kettle modeling unit, for respectively to the first reaction kettle, the second reaction kettle, third reaction kettle and the 4th reaction kettle
It is modeled, obtains the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model；
State space modeling unit, for according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model
With the 4th reaction kettle model, foundation obtains state-space model；
System model unit, for according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model, the
Four reaction kettle models and state-space model obtain ceramics and seep flower ink preparation process reaction kettle liquid level control system model；
Design cell, for the Distributed Predictive Control device respectively to each mixer design one its corresponding subsystem；
Iteration unit is iterated friendship by iterative algorithm for each Distributed Predictive Control device in each sampling period
Mutually.
From the foregoing it can be that the present invention will by establishing ceramics infiltration flower ink preparation process reaction kettle liquid level control system model
Distributed Predictive Control is applied to the Liquid level that ceramics seep flower ink preparation process, and correlation theory application of result seeps flower in ceramics
In ink preparation process system, the ceramic degree of intelligence for seeping flower ink preparation can be greatly improved, it is strategic to low-carbon economy is realized,
Promote ceramic clean manufacturing and industrial upgrading to be of great significance, there is good industrialization prospect.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of Distributed Predictive Control method that ceramics seep flower ink preparation process, which comprises the following steps:
It establishes ceramics and seeps flower ink preparation process reaction kettle liquid level control system model, and carry out system distribution division；According to ceramics
Flower ink preparation process reaction kettle liquid level control system model is seeped, flower ink preparation process is seeped to ceramics and carries out Distributed Predictive Control.
2. a kind of ceramics according to claim 1 seep the Distributed Predictive Control method of flower ink preparation process, feature
It is: further comprising the steps of:
Performance indicator in flower ink preparation process reaction kettle liquid level control system model is seeped to ceramics and carries out online rolling optimization, is obtained
The control input value of optimization.
3. a kind of ceramics according to claim 2 seep the Distributed Predictive Control method of flower ink preparation process, feature
It is: further comprising the steps of:
When seeping the output in flower ink preparation process reaction kettle liquid level control system model prediction future by ceramics, if predicted value and reality
There are reality output errors between measured value, then reality output error propagation to ceramics are seeped flower ink preparation process and react kettle liquid
The input terminal of position system model carries out feedback compensation.
4. a kind of ceramics according to claim 1 seep the Distributed Predictive Control method of flower ink preparation process, feature
Be: the foundation ceramics seep flower ink preparation process reaction kettle liquid level control system model, and carry out system distribution division, this
One step specifically includes:
The first reaction kettle, the second reaction kettle, third reaction kettle and the 4th reaction kettle are modeled respectively, obtain the first reaction kettle
Model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model；
It is obtained according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model, foundation
State-space model；
According to the first reaction kettle model, the second reaction kettle model, third reaction kettle model, the 4th reaction kettle model and state space
Model obtains ceramics and seeps flower ink preparation process reaction kettle liquid level control system model；
Respectively to the Distributed Predictive Control device of each mixer design one its corresponding subsystem；
Each Distributed Predictive Control device is iterated interaction by iterative algorithm in each sampling period.
5. a kind of ceramics according to claim 4 seep the Distributed Predictive Control method of flower ink preparation process, feature
It is: the first reaction kettle model are as follows:
Wherein, A1Indicate the sectional area of the first reaction kettle, h1Indicate the liquid level of the first reaction kettle, a1Indicate the stream of the first reaction kettle
The sectional area of outlet, v1Indicate the adjustable input of the first water pump, the i.e. revolving speed of the first water pump, u1It is the control of the first pump rotary speed
Signal；k1Indicate the revolving speed gain of the first water pump, γ1Indicate that the first water pump is sent to the shunt ratio of high-order reaction kettle, g=
981cm/s2Indicate acceleration of gravity；D indicates unmodeled disturbance.
6. a kind of ceramics according to claim 5 seep the Distributed Predictive Control method of flower ink preparation process, feature
It is: the second reaction kettle model are as follows:
Wherein, A2Indicate the sectional area of the second reaction kettle, h2Indicate the liquid level of the second reaction kettle, a2Indicate the stream of the second reaction kettle
The sectional area of outlet, v2Indicate the adjustable input of the second water pump, the i.e. revolving speed of the second water pump, u2It is the control of the second pump rotary speed
Signal；k2Indicate the revolving speed gain of the second water pump, γ2Indicate that the second water pump is sent to the shunt ratio of high-order reaction kettle.
7. a kind of ceramics according to claim 6 seep the Distributed Predictive Control method of flower ink preparation process, feature
It is: the third reaction kettle model are as follows:
Wherein, A3Indicate the sectional area of third reaction kettle, h3Indicate the liquid level of third reaction kettle, a3Indicate the stream of third reaction kettle
The sectional area of outlet.
8. a kind of ceramics according to claim 7 seep the Distributed Predictive Control method of flower ink preparation process, feature
It is: the 4th reaction kettle model are as follows:
Wherein, A4Indicate the sectional area of the 4th reaction kettle, h4Indicate the liquid level of the 4th reaction kettle, a4Indicate the stream of the 4th reaction kettle
The sectional area of outlet.
9. the Distributed Predictive Control System that a kind of ceramics seep flower ink preparation process characterized by comprising
Model foundation unit seeps flower ink preparation process reaction kettle liquid level control system model for establishing ceramics, and carries out system point
Cloth divides；
Predicting unit seeps flower ink system to ceramics for seeping flower ink preparation process reaction kettle liquid level control system model according to ceramics
Standby process carries out Distributed Predictive Control.
10. a kind of ceramics according to claim 9 seep the Distributed Predictive Control System of flower ink preparation process, feature
Be: the model foundation unit specifically includes:
Reaction kettle modeling unit, for being carried out respectively to the first reaction kettle, the second reaction kettle, third reaction kettle and the 4th reaction kettle
Modeling, obtains the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the 4th reaction kettle model；
State space modeling unit, for according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model and the
Four reaction kettle models, foundation obtain state-space model；
System model unit is used for according to the first reaction kettle model, the second reaction kettle model, third reaction kettle model, the 4th instead
Kettle model and state-space model are answered, ceramics is obtained and seeps flower ink preparation process reaction kettle liquid level control system model；
Design cell, for the Distributed Predictive Control device respectively to each mixer design one its corresponding subsystem；
Iteration unit is iterated interaction by iterative algorithm for each Distributed Predictive Control device in each sampling period.
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| CN112987672A (en) * | 2021-03-05 | 2021-06-18 | 广东道氏技术股份有限公司 | Gain scheduling method and device for ceramic pattern-permeating ink mixed line production |
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