CN102331713A - Fuzzy control method for intelligent vehicular windscreen wiper - Google Patents

Abstract

The invention discloses a fuzzy control method for an intelligent vehicular windscreen wiper. A control structure for realizing the control method mainly comprises a windscreen wiper control rod, a microcontroller, a driver, a stepless speed regulating motor, a vehicular windscreen and a windscreen wiping executing mechanism, wherein a driver selects a gear by controlling the windscreen wiper control rod according to the rain density on the vehicular windscreen; the microcontroller receives gear information of the windscreen wiper control rod; and the driver judges the rain density by computing a gear shifting time interval. When the windscreen wiper control rod is located at a certain gear for a longer time, the driver accepts the gear highly and feedback amount is smaller; therefore, according to a fuzzy control algorithm, the time interval and the speed of the stepless speed regulating motor are regulated and the windscreen wiping executing mechanism is driven to finish the whole control process.

Description

A kind of fuzzy control method of intelligent vehicle-carried wiper

Technical field

The present invention relates to a kind of fuzzy control method of intelligent vehicle-carried wiper, relate in particular to a kind of according to driver's operation behavior analyze and fuzzy diagnosis, and then control the vehicle-mounted wiper time interval and method of velocity, belong to vehicle body fittings control technology field.

Background technology

Wiper is one of all vehicles accessory that must dispose, and its effect is in sleety weather, removes the sleet on glass that keeps out the wind before and after the vehicle, and is clear to guarantee pilot's line of vision.The windscreen wiper equipment operated by rotary motion of existing common vehicle has at a slow speed, middling speed, third speed is regulated fast, and wherein shelves are through prolonging the time interval between the windscreen wiper motion twice at a slow speed, and mid ranger and top gear are then regulated the windscreen wiper movement velocity.According to the size of rainfall, the driver can select one grade of work wherein.

Generally speaking, the time interval and the speed of each grade all regulate in advance, and the driver can only select different gears in actual controlling, and can't specifically regulate the time interval and the speed of wiper according to the size of actual rainfall.Therefore, when rainfall hour, even the operating rate of shelves is fast too at a slow speed, the windscreen wiper bar was scraped the windshield of relatively dry, fuzzy on the contrary sight line; And when rainfall is big,, can only launch higher speed stage because the operating rate of windscreen wiper can't be complementary with rainfall.This has not only increased the unnecessary friction of windscreen wiper bar, has reduced serviceable life, nor is that a kind of good driving is experienced.In order to improve the wiper performance, multinomial technical solution has been proposed, as:

Notification number is: it is current signal with the rainwater conversion of signals that the Chinese utility model patent of CN 2052368U " full-automatic wiper " discloses a kind of, and through amplifier electric current is amplified, and regulates the technical scheme of motor speed.The benefit of this technical scheme is that cost is low, and shortcoming is the speed regulation poor effect.

Notification number is: the Chinese utility model patent of CN 2118669U " adjustable batch (-type) wiper controller " discloses and has adopted frequency adjustment potentiometer and the technical scheme of automatic reset circuit adjustment wiper operation range time; Advantage be simple in structure, cost is low, shortcoming is to control complicacy.

Notification number is: the Chinese invention patent of CN 1415507A " screen wiper " discloses a kind ofly installs specially designed rain sensor in the roof direction of facining the wind; Detection rainfall size is then by the technical scheme of Single-chip Controlling machine operation at the optimum speed state.The benefit of this technical scheme is that the driver need not frequently to switch artificially the speed of wiper, and shortcoming is to need rain sensor is installed, and installation and maintenance are complicated.

And notification number is: the Chinese utility model patent of CN 2812064Y " a kind of based on the intelligent windscreen wiper control device near sense sensor " discloses selects the technical scheme that replaces rain sensor near sense sensor for use.

Notification number is: the Chinese utility model patent of CN 201294430Y " hydroelectric machine is scraped in the rainfall induction " then discloses a kind of motor that can directly respond to rainfall size and control shelves speed.

In addition, notification number is: the Chinese invention patent of CN 101750965A " rainfall adaptive sensing method of automobile windscreen wipers " discloses optimizes the adaptive technique scheme that rain sensor quantizes rainfall density.

Generally speaking, above technical solution all is most detection based on rainfall density, and the final purpose of optimization windscreen wiper effect is the sleet on glass that keeps out the wind before and after removing; So that pilot's line of vision is clear,, at first should set up rainfall density and the sight line relation between clear with regard to this target; And the foundation of this relation exists than the complex constraint condition, in other words, even detected rainfall density exactly; The windscreen wiper time interval and speed have reasonably been regulated; Also may not necessarily reach and make pilot's line of vision purpose clearly, different still more drivers require also different clearly to sight line, and fixing feedback parameter also not necessarily is fit to each driver.Therefore the vehicle-mounted wiper of selling on the market at present still adopts three traditional gear drive motor mostly.

Starting point of the present invention is: in actual use, driver's subjective judgement is the whether clear important evidence of sight line.Generally speaking, if rainfall is less, when shelves all disliked fast at a slow speed, the driver can initiatively close windscreen wiper, with the time expand interval; And when rainfall was big, the driver is pick up speed shelves initiatively again, to reach the effect of quick removing.Therefore, if operation behavior that can the intellectual analysis driver, and extract feedback parameter, with the control windscreen wiper time interval and speed, can reach better applicability and ease for use.In technical scheme disclosed by the invention, do not need the extra rain sensor that installs additional, driver itself is exactly best rainfall observer.

Summary of the invention

Target of the present invention provides a kind of fuzzy control method of intelligent vehicle-carried wiper; Make that on the basis of improving double-shift type windscreen wiper control electrical structure, behavior is analyzed and fuzzy diagnosis to driver's operation in the situation of not extra increase rain sensor; To obtain feedback parameter; And then the time interval and the speed of control wiper, reach effective removal sleet, guarantee that pilot's line of vision is clear.

For realizing above-mentioned purpose, the present invention adopts following control structure:

The fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention, its control structure mainly comprises: windscreen wiper control lever, microcontroller, driver, stepless speed-regulating motor, vehicle windscreen, windscreen wiper topworks.

Wherein, The driver is according to the rainfall density on the vehicle windscreen; Select gear through control windscreen wiper control lever, microcontroller is accepted the gear information of windscreen wiper control lever, according to FUZZY ALGORITHMS FOR CONTROL; Regulate the time interval and the speed of stepless speed-regulating motor, and finally drive windscreen wiper topworks completion whole control process.

Generally speaking, use traditional double-shift type wiper controller, following several kinds of situation arranged:

(1) in rainfall density hour, the driver can select manually shelves at a slow speed, and it is a certain amount of to wait until that promptly rainfall accumulates on vehicle windscreen; And cause after the blurred vision; Just carry out once shelves operation at a slow speed, after executing, manual-lock shelves at a slow speed immediately; After gathering once again Deng rainfall, repetitive operation again;

(2) when rainfall density is big slightly; The driver can select shelves at a slow speed; Wiper controller is according to pre-set time interval and speed executable operations, and promptly be eliminated this moment before rainfall gathers, and reached mobile equilibrium; Under the situation that satisfies the pilot's line of vision requirement, the driver can not carry out manual adjustments;

(3) when rainfall density further increases, the driver can select mid ranger, and wiper controller reaches mobile equilibrium according to the continuous executable operations of predefined middle-grade speed;

(4) when rainfall density is very big, the driver can select quick shelves, and wiper controller reaches mobile equilibrium according to the continuous executable operations of predefined fast shelves speed.In fact, wiper controller all has prestissimo to limit, and therefore when rainfall density is big especially, also can't select faster shelves speed, but this meteorological condition occurs seldom generally.

In said process, though the driver can select different operating modes according to different rainfall densities, the time interval of different gears and speed are predefined, can't self-adaptation regulate.

Generally speaking, when rainfall density and wiper controller speed did not match, the driver may regulate through the mode of initiatively switching gear sometimes, and was clear to reach sight line.In fact, driver's this active adjustment, the direct feedback of rainfall density just, through analyzing driver's operation behavior, the fuzzy diagnosis driver as feedback information, and then regulates stepless speed-regulating motor speed to the judgement of rainfall density.

Therefore, the technical scheme of the present invention's proposition is following:

Obtain the judgement of driver through the measuring and calculating gear switch time interval to rainfall density, on a certain gear the residence time long more, explain that the driver is high more to this gear degree of recognition, feedback quantity is few more;

(1) fuzzification process.

(2) set up the two dimension input.If (P, Δ t) expression " gear-gear residence time " is several right, wherein span is: P ∈ 0,1,2,3}, Δ t＞0;

(3) the record gear residence time.So-called " the gear residence time " is meant that switching to some gears from the driver begins, to the time interval that switches between another gear end;

(4) calculate degree of membership.The selection membership function is:

$\mathrm{\μ}\left(\mathrm{\Δt}\right)=\left\{\begin{array}{cc}0& \mathrm{\Δt}\≤T_0\\ 1-e^{-(\mathrm{\Δt}-T_0)}& \mathrm{\Δt}>T_0\end{array}\right.$

Considered in the formula that gear is to arrange continuously, when selecting a certain gear, can therefore need ignore this situation, T along band through middle gear ₀For this situation is set the minimum interval threshold value;

(5) fuzzy threshold value is set.Subordinate function is divided into two fuzzy subsets { loses coupling, coupling }, formula is:

(6) judge the mistake matching direction.Next gear according to the driver selects is confirmed undermatching and overmatching, and formula is:

Wherein, P ₁Be a back gear, P ₀Be previous gear;

(7) fuzzy reasoning process.

(8) undermatching logic.Need to accelerate wiper speed.

IF E=loses the undermatching THEN CU=CU of coupling AND CE= ₁

(9) overmatching logic.Need to reduce wiper speed.

IF E=loses coupling AND CE=overmatching THEN CU=CU ₂

(10) matching logic.Keep present situation not handle.

IF E=coupling THEN CU=CU ₃=0

Wherein CU is fuzzy quantity output.

(11) de-fuzzy process.Calculate the FEEDBACK CONTROL amount with following formula:

$V_{\mathrm{FEEDBACK}}=\frac{{\mathrm{CU}}_i\·{\mathrm{\μ}}_0}{\mathrm{\μ}\left(\mathrm{\Δt}\right)}$

In the formula, μ (Δ t) is more little, explains that the driver does not approve current gear more, and feedback quantity should be big more, and the direction of feedback is by CU _iConfirm.

(12) renewal speed value.V _NEW=V _OLD+ V _FEEDBACK,, need V for fear of crossing dark feedback _NEWCarry out amplitude limit;

(13) feedback quantity amplitude limit.Adopt formula:

V wherein _PBe the central speed of this gear, Δ V is the velocity contrast between the gear, and these parameters all are the constants of setting in advance;

(14) speed converts the time interval.For shelves at a slow speed, a minimum speed limit is arranged, when less than this speed the time, make into therefore to pass through formula through regulating time interval control rate:

$\mathrm{\&Delta;T}=\left\{\begin{array}{cc}0& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}\&GreaterEqual;V_{\mathrm{SLOWEST}},P=1\\ G\&CenterDot;(V_{\mathrm{SLOWESL}}-\stackrel{\&OverBar;}{V_{\mathrm{NEW}}})& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}<V_{\mathrm{SLOWEST}},P=1\end{array}\right.$

V wherein _SLOWESTBe minimum speed, G is a conversion constant, and target velocity is slow more, and the time interval is long more;

(15) prestissimo amplitude limit.For quick shelves, a prestissimo restriction is arranged, if greater than this speed, then get prestissimo, through formula:

$\stackrel{\&OverBar;}{V_{\mathrm{NEW}}}=\left\{\begin{array}{cc}\stackrel{\&OverBar;}{V_{\mathrm{NEW}}}& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}<V_{\mathrm{FASTEST}},P=3\\ V_{\mathrm{FASTEST}}& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}\&GreaterEqual;V_{\mathrm{FASTEST}},P=3\end{array}\right.$

(16) decision feedback process.Drive stepless speed-regulating motor work with new velocity amplitude

, and return step new operations to be analyzed such as (1).

In sum, the useful technique effect of technical scheme proposed by the invention is: fuzzy diagnosis and analysis are carried out in the operation through to the driver, obtain the feedback information of rainfall density; Thereby control wiper speed; Can on the basis of improving the double-shift type wiper controller, not need extra installation rainfall density sensor, both practiced thrift cost; Have well handlingly again, have good economic benefit and market outlook.

Description of drawings

Fig. 1 is the control structure block diagram of the fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention;

Fig. 2 is the traditional double-shift type wiper controller rainfall density-Velocity-time spaced relationship figure of the fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention;

Fig. 3 is the process flow diagram of the fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention;

Fig. 4 is the gear switch sequential chart of embodiment of the fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention;

Fig. 5 is the subordinate function synoptic diagram of the fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention.

Embodiment

With reference to accompanying drawing, describe the present invention below.

As shown in Figure 1, the control structure that the present invention adopted mainly comprises: windscreen wiper control lever (100), microcontroller (101), driver (102), stepless speed-regulating motor (103), vehicle windscreen (104), windscreen wiper topworks (105).

Wherein, Driver (102) is according to the rainfall density on the vehicle windscreen (104); Select gear through control windscreen wiper control lever (100), microcontroller (101) is accepted the gear information of windscreen wiper control lever (100), according to FUZZY ALGORITHMS FOR CONTROL; Regulate the time interval and the speed of stepless speed-regulating motor (103), and finally drive windscreen wiper topworks (105) completion whole control process.

Can see that except stepless speed-regulating motor (103) disposes the height than double-shift type wiper controller, other configuration need not increase extra input.

As shown in Figure 2, generally speaking, the driver selects gear according to rainfall density, supposes that rainfall density curve (200) is a upcurve, and promptly rainfall density strengthens gradually.Under different rainfall densities; The driver rule of thumb successively selects shelves (206), mid ranger (207), quick shelves (208) at a slow speed, and big (202), rainfall density further increase the very situation of big (204) of (203), rainfall density slightly to correspond respectively to rainfall density less (201), rainfall density.

It should be noted that; In rainfall density less (201) and big slightly (202) stage of rainfall density; Though select shelves (206) at a slow speed equally, can adopt manually the shelves time interval (209) and the satisfied demand separately of difference mode of the shelves time interval (210) at a slow speed at a slow speed respectively.And when rainfall density big especially (205), can only keep quick shelves (208) constant, because can't select faster shelves speed, but this meteorological condition generally seldom occurs.

As shown in Figure 3, the technical scheme that the present invention proposes is to obtain the judgement of driver to rainfall density through the measuring and calculating gear switch time interval, on a certain gear the residence time long more, explain that the driver is high more to this gear degree of recognition, feedback quantity is few more;

(1) fuzzification process (300).

(2) set up two dimension input (301).If (P, Δ t) expression " gear-gear residence time " is several right, wherein span is: P ∈ 0,1,2,3}, Δ t＞0;

(3) the record gear residence time (302).So-called " the gear residence time " is meant that switching to some gears from the driver begins, to the time interval that switches between another gear end;

(4) calculate degree of membership (303).The selection membership function is:

$\mathrm{\&mu;}\left(\mathrm{\&Delta;t}\right)=\left\{\begin{array}{cc}0& \mathrm{\&Delta;t}\&le;T_0\\ 1-e^{-(\mathrm{\&Delta;t}-T_0)}& \mathrm{\&Delta;t}>T_0\end{array}\right.$

Considered in the formula that gear is to arrange continuously, when selecting a certain gear, can therefore need ignore this situation, T along band through middle gear ₀For this situation is set the minimum interval threshold value;

(5) fuzzy threshold value (304) is set.Subordinate function is divided into two fuzzy subsets { loses coupling, coupling }, formula is:

(6) judge mistake matching direction (305).Next gear according to the driver selects is confirmed undermatching and overmatching, and formula is:

Wherein, P ₁Be a back gear, P ₀Be previous gear;

(7) fuzzy reasoning process (306).

(8) undermatching logic (307).Need to accelerate wiper speed.

IF E=loses the undermatching THEN CU=CU of coupling AND CE= ₁

(9) overmatching logic (308).Need to reduce wiper speed.

IF E=loses coupling AND CE=overmatching THEN CU=CU ₂

(10) matching logic (309).Keep present situation not handle.

IF E=coupling THEN CU=CU ₃=0

Wherein CU is fuzzy quantity output.

(11) de-fuzzy process (310).Calculate the FEEDBACK CONTROL amount with following formula:

$V_{\mathrm{FEEDBACK}}=\frac{{\mathrm{CU}}_i\&CenterDot;{\mathrm{\&mu;}}_0}{\mathrm{\&mu;}\left(\mathrm{\&Delta;t}\right)}$

In the formula, μ (Δ t) is more little, explains that the driver does not approve current gear more, and feedback quantity should be big more, and the direction of feedback is by CU _iConfirm.

(12) renewal speed value (311).V _NEW=V _OLD+ V _FEEDBACK,, need V for fear of crossing dark feedback _NEWCarry out amplitude limit;

(13) feedback quantity amplitude limit (312).Adopt formula:

V wherein _PBe the central speed of this gear, Δ V is the velocity contrast between the gear, and these parameters all are the constants of setting in advance;

(14) speed converts the time interval (314).For shelves at a slow speed, a minimum speed limit is arranged, when less than this speed the time, make into therefore to pass through formula through regulating time interval control rate:

$\mathrm{\&Delta;T}=\left\{\begin{array}{cc}0& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}\&GreaterEqual;V_{\mathrm{SLOWEST}},P=1\\ G\&CenterDot;(V_{\mathrm{SLOWESL}}-\stackrel{\&OverBar;}{V_{\mathrm{NEW}}})& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}<V_{\mathrm{SLOWEST}},P=1\end{array}\right.$

V wherein _SLOWESTBe minimum speed, G is a conversion constant, and target velocity is slow more, and the time interval is long more;

(15) prestissimo amplitude limit (313).For quick shelves, a prestissimo restriction is arranged, if greater than this speed, then get prestissimo, through formula:

$\stackrel{\&OverBar;}{V_{\mathrm{NEW}}}=\left\{\begin{array}{cc}\stackrel{\&OverBar;}{V_{\mathrm{NEW}}}& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}<V_{\mathrm{FASTEST}},P=3\\ V_{\mathrm{FASTEST}}& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}\&GreaterEqual;V_{\mathrm{FASTEST}},P=3\end{array}\right.$

(16) decision feedback process (315).Drive stepless speed-regulating motor work with new velocity amplitude

, and return step new operations to be analyzed such as (1).

As shown in Figure 4, the gear switch sequential (400) of an embodiment, wherein the shelves residence time (401) are enough short at a slow speed, are less than minimum interval threshold value T ₀, explain the selected object gear of driver be not at a slow speed shelves, ignore processing; And the mid ranger residence time (402) is longer, greater than minimum interval threshold value T ₀, afterwards, the driver switches to quick shelves again; And stopping the quick shelves residence time (403) afterwards on the shelves fast; Switch back mid ranger again, and on mid ranger, stopped the sufficiently long mid ranger residence time second time (404), this explanation driver is that mid ranger is best basically to the judgement of rainfall density; But on speed, dislike not enough slightly; So the driver attempts still selecting mid ranger after the faster shelves, therefore this operation behavior is accumulate and is being shown the speed of driver's expectation a little more than mid ranger.

As shown in Figure 5, subordinate function (500) is at the index curve of minimum interval threshold value (502) beginning, and fuzzy threshold value (501) is divided into two fuzzy subsets with gear residence time Δ t.

Claims (1)

1. the fuzzy control method of a kind of intelligent vehicle-carried wiper of the present invention, its control structure mainly comprises: windscreen wiper control lever, microcontroller, driver, stepless speed-regulating motor, vehicle windscreen, windscreen wiper topworks,

Wherein, The driver selects gear according to the rainfall density on the vehicle windscreen through control windscreen wiper control lever, and microcontroller is accepted the gear information of windscreen wiper control lever; According to FUZZY ALGORITHMS FOR CONTROL; Regulate the time interval and the speed of stepless speed-regulating motor, and finally drive windscreen wiper topworks completion whole control process, it is characterized in that:

Obtain the judgement of driver through the measuring and calculating gear switch time interval to rainfall density, on a certain gear the residence time long more, explain that the driver is high more to this gear degree of recognition, feedback quantity is few more; For reaching this technical purpose, implementation step comprises:

(1) fuzzification process;

(2) set up the two dimension input, establish (P, Δ t) and represent that " gear-gear residence time " is several right, wherein span is: P ∈ 0,1,2,3}, Δ t＞0;

(3) the record gear residence time, so-called " the gear residence time " is meant that switching to some gears from the driver begins, to the time interval that switches between another gear end;

(4) calculate degree of membership, select membership function to be:

$\mathrm{\&mu;}\left(\mathrm{\&Delta;t}\right)=\left\{\begin{array}{cc}0& \mathrm{\&Delta;t}\&le;T_0\\ 1-e^{-(\mathrm{\&Delta;t}-T_0)}& \mathrm{\&Delta;t}>T_0\end{array}\right.$

Considered in the formula that gear is to arrange continuously, when selecting a certain gear, can therefore need ignore this situation, T along band through middle gear ₀For this situation is set the minimum interval threshold value;

(5) fuzzy threshold value is set, subordinate function is divided into two fuzzy subsets { Zhu's coupling, coupling }, formula is:

(6) judge the mistake matching direction, confirm undermatching and overmatching that formula is according to the next gear that the driver selects:

Wherein, P ₁Be a back gear, P ₀Be previous gear;

(7) fuzzy reasoning process;

(8) undermatching logic needs to accelerate wiper speed;

IF E=loses the undermatching THEN CU=CU of coupling AND CE= ₁

(9) overmatching logic needs to reduce wiper speed;

IF E=loses coupling AND CE=overmatching THEN CU=CU ₂

(10) matching logic keeps present situation not handle;

IF E=coupling THEN CU=CU ₃=0

Wherein CU is fuzzy quantity output;

(11) de-fuzzy process, calculate the FEEDBACK CONTROL amount with following formula:

$V_{\mathrm{FEEDBACK}}=\frac{{\mathrm{CU}}_i\&CenterDot;{\mathrm{\&mu;}}_0}{\mathrm{\&mu;}\left(\mathrm{\&Delta;t}\right)}$

In the formula, μ (Δ t) is more little, explains that the driver does not approve current gear more, and feedback quantity should be big more, and the direction of feedback is by CU _iConfirm;

(12) renewal speed value, V _NEW=V _OLD+ V _FEEDBACK,, need V for fear of crossing dark feedback _NEWCarry out amplitude limit;

(13) feedback quantity amplitude limit, adopt formula:

V wherein _PBe the central speed of this gear, Δ V is the velocity contrast between the gear, and these parameters all are the constants of setting in advance;

(14) speed converts the time interval, for shelves at a slow speed, a minimum speed limit is arranged, and when less than this speed the time, makes into therefore to pass through formula through regulating time interval control rate:

$\mathrm{\&Delta;T}=\left\{\begin{array}{cc}0& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}\&GreaterEqual;V_{\mathrm{SLOWEST}},P=1\\ G\&CenterDot;(V_{\mathrm{SLOWESL}}-\stackrel{\&OverBar;}{V_{\mathrm{NEW}}})& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}<V_{\mathrm{SLOWEST}},P=1\end{array}\right.$

V wherein _SLOWESTBe minimum speed, G is a conversion constant, and target velocity is slow more, and the time interval is long more;

(15) prestissimo amplitude limit for quick shelves, has a prestissimo restriction, if greater than this speed, then gets prestissimo, through formula:

$\stackrel{\&OverBar;}{V_{\mathrm{NEW}}}=\left\{\begin{array}{cc}\stackrel{\&OverBar;}{V_{\mathrm{NEW}}}& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}<V_{\mathrm{FASTEST}},P=3\\ V_{\mathrm{FASTEST}}& \stackrel{\&OverBar;}{V_{\mathrm{NEW}}}\&GreaterEqual;V_{\mathrm{FASTEST}},P=3\end{array}\right.$

(16) decision feedback process; Drive stepless speed-regulating motor work with new velocity amplitude

, and return step new operations to be analyzed such as (1).

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