CN104228741A - Automobile collision estimation control method and system based on magnetic control puddle buffer device - Google Patents
Automobile collision estimation control method and system based on magnetic control puddle buffer device Download PDFInfo
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- CN104228741A CN104228741A CN201410446870.1A CN201410446870A CN104228741A CN 104228741 A CN104228741 A CN 104228741A CN 201410446870 A CN201410446870 A CN 201410446870A CN 104228741 A CN104228741 A CN 104228741A
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Abstract
The invention provides an automobile collision estimation control method and system based on a magnetic control puddle buffer device. The method comprises the following steps that a, the occurring time of collision between an automobile and an obstacle is detected, and is compared with the preset safe time, and if the collision time is smaller than the preset safe time, the magnetic control puddle buffer device is started; b, collision parameters when the automobile and the obstacle generate the collision are estimated; c, according to the collision time and the collision parameters, the initial current of a damping regulator arranged in the magnetic control puddle buffer device is preset before the collision, so that the damping regulator generates the expected ideal damping force during the collision, and in addition, after the occurrence of the collision, the damping force generated by the magnetic control puddle buffer device is controlled through regulating the current value output by the damping regulator. The method and the system provided by the invention have the advantages that the estimation control of a magnetic control buffer system is realized, and the problem of response hysteresis of the magnetic control buffer system can be solved.
Description
Technical field
The present invention relates to automobile safety protective field, particularly relate to the auto against Prediction Control method and system based on magnetic control clay shock absorber.
Background technology
Along with the fast development of China's economy, automobile quantity continues to increase year by year, various traffic accident is significantly risen, in this context, automobile safety protective just seems particularly important, in order to make automobile in the impact reduced instantaneously driver and crew that collides, people have studied a large amount of automotive safety technology and dissimilar automotive collision-proof protecting apparatus, wherein receive magnetic converting technique raising automobile and are had extremely wide application prospect by the energy absorption capacity in the process of hitting.Such as: publication number is CN10124982OA, Chinese invention patent, disclose one " buffer device for collision of automobile and buffering energy-absorbing method based on magnetic converting technique ", but this patent electric current could be regulated to export after collision, have ignored the impact of response lag on control effects of magnetorheological shock absorber; And for example: publication number is CNIO2975679A, Chinese invention patent, disclose one " the buffering automobile collision method and system based on magnetic converting technique ", propose to start to regulate magnetorheological buffer system before collision starts, but its by judge safety distance method have certain limitation, and adopt Closed-loop Control Strategy also can produce adverse influence to the buffering effect of system after an impact.
Summary of the invention
In view of this, the invention provides a kind of auto against Prediction Control method and system based on magnetic control clay shock absorber, take into full account the response lag of magnetic control buffering magnetic control clay shock absorber, before collision starts, regulate magnetic control to cushion magnetic control clay shock absorber, and to collision parameter prediction, in collision process, take opened loop control and Prediction Control strategy.
Auto against Prediction Control method based on magnetic control clay shock absorber provided by the invention comprises the steps:
A. detect the time that automobile and obstacle collide, and compare with preset safety time, if collision time is less than preset safety time, then startup magnetic control clay shock absorber;
B. collision parameter when automobile and obstacle collide is estimated;
C. according to collision time and collision parameter, the initial current of the damper regulator before the collision in preset magnetic control clay shock absorber, damper regulator is made to produce the desirable dumping force of expection when colliding, and after collision occurs, by the output current value of damping adjusting regulating control, control the dumping force that magnetic control clay shock absorber produces.
Further, step c comprises the following steps:
C1. the automobile desirable damping force models that magnetic control clay shock absorber produces in collision process is set up:
In formula, F
optfor the desirable dumping force that automobile is suffered in collision process, E
kfor the kinetic energy of the relative obstacle of automobile when colliding, s
efffor effective impact stroke of magnetic control clay shock absorber;
Wherein E
kobtained by following formula:
In formula, m is the quality of automobile, v
justfor initial velocity when automobile and obstacle collide;
C2. according to the collision parameter that step b estimates, auto against kinetic model is built;
C3. according to auto against kinetic model and desirable damping force models, the initial current of the damper regulator in preset magnetic control clay shock absorber;
C4. according to the hysteresis quality of magnetic control clay shock absorber, utilize predictive control algorithm, change the exciting current of the damper regulator in magnetic control clay shock absorber.
Further, described in step c4, predictive control algorithm comprises the following steps:
C41. automobile and obstacle are at t
0moment collides, advance time t
0to the preset initial current I of damper regulator
just, I
just=β × I
first opt, wherein β=1.1 ~ 1.2,0 ~ t
0for the response lag time of magnetic control clay shock absorber, I
first optfor estimate collision time produce desirable damping force F
opttime export exciting current;
C42. at t
0moment automobile and obstacle collide, and control power supply and reduce to export exciting current, outgoing current is I
first opt, due to the hysteresis quality of magnetic control clay shock absorber, at t
1moment electric current reaches I
first opt, t
0~ t
1time is the response lag time that magnetic control cushions magnetic control clay shock absorber;
C43. at t
1moment controls power supply and increases output exciting current, and outgoing current is: β × I
end opt, wherein β=1.1 ~ 1.2, I
end optfor the desired output current in the collision estimated last moment, due to the response lag of magnetic control buffering magnetic control clay shock absorber, at t
2moment reaches β × I
end opt, t
1~ t
2for the response lag time of magnetic control buffering magnetic control clay shock absorber;
C44. at t
2moment reduces to export exciting current, and control electric power outputting current is I
end, until collision terminates.
Further, described collision parameter at least comprises initial velocity when automobile and obstacle collide and crash type, and described crash type is divided into central collision, biasedly touches and oblique impact.
Further, step a comprises the following steps:
A1. the relative distance between automobile and obstacle is detected;
A2. according to the result of a measurement of step a1, the collision time between automobile and obstacle is calculated;
A3. collision time and preset safety time are compared, described preset safety time is response lag time and the sense cycle sum of relative distance between automobile and obstacle of magnetic control clay shock absorber.
A4. according to the result that step a3 compares, if collision time is more than or equal to safety time, then step a1 is returned; If collision time is less than safety time, then start magnetic control clay shock absorber.
Further, step a2 is divided into following steps:
A21. according to the automobile of detection and the relative distance of obstacle, the relative velocity between automobile and obstacle is obtained by following formula:
In formula, T is the sense cycle of detection system, s
nthe relative distance of automobile and obstacle, s
n-1the automobile of last sense cycle and the relative distance of obstacle;
A22. according to the relative velocity between automobile and obstacle, the current acceleration/accel of automobile is obtained by following formula:
In formula, v
n-1the relative velocity that the upper cycle surveys;
A23. Newton's second law is utilized to obtain the collision time Δ t of automobile and obstacle:
Further, a kind of auto against Prediction Control system based on magnetic control clay shock absorber, comprising:
Detection system, for detecting the relative distance between automobile and obstacle;
Magnetic control clay shock absorber, comprising: controllable electric power and damper regulator, and described damper regulator is connected with controller by controllable electric power;
Controller, is connected with detection system and magnetic control clay shock absorber respectively;
It is characterized in that: described controller comprises: parameter prediction unit, estimate the initial current of initial velocity, crash type, desirable dumping force and damper regulator when automobile and obstacle collide.
Further, described detection system comprises: distance detector and Signal-regulated kinase, and described distance detector is connected with controller by Signal-regulated kinase; Described distance detector is at least 2, and is fixedly mounted between Federal bumper and crossbeam by same level line, and with Federal bumper and crossbeam keeping parallelism.
Further, described controller also comprises: collision judgment unit and current control unit, described collision judgment unit input end is connected with the mouth of Signal-regulated kinase, the mouth of collision judgment unit is connected with the input end of parameter prediction unit, and collision judgment unit judges whether collision time is less than preset safety time; The input end of described current control unit is connected with the mouth of parameter prediction unit, and the mouth of current control unit is connected with the input end of controllable electric power, and current control unit controls controllable electric power and changes outgoing current to damper regulator.
Further, described Signal-regulated kinase at least comprises signal amplifier, filter and A/D converter, the input end of described amplifier is connected with the mouth of distance detector, the mouth of described amplifier is connected with the input end of filter, the mouth of described filter is connected with the input end of A/D converter, and the mouth of described A/D converter is connected with the input end of controller.
Beneficial effect of the present invention: the present invention estimates its collision time before automobile and obstacle collide, estimate collision parameter when colliding with magnetic control clay shock absorber, desirable dumping force suffered when auto against is estimated according to collision parameter, prediction is applied to the initial current of damper regulator, and apply initial current in advance, can regulate magnetic control buffering magnetic control clay shock absorber before collision occurs like this.In addition due to the response lag of magnetic control clay shock absorber, the present invention adopts opened loop control and Prediction Control strategy in collision process, effectively can regulate exciting current, so in collision process effective damping adjusting regulating control.Method can be implemented in collision process and controls the ideal of auto against acceleration/accel thus.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is structural representation of the present invention.
Fig. 2 is schematic flow sheet of the present invention.
Fig. 3 is the current diagram of control effects of the present invention.
Fig. 4 is the exciting current schematic diagram applied magnetic control clay shock absorber of the present invention.
Detailed description of the invention
As shown in Figure 1, be a kind of auto against Prediction Control system based on magnetic control clay shock absorber of the present invention, comprise:
Detection system, comprising: distance detector and Signal-regulated kinase 4, for detecting the relative distance between automobile and obstacle;
Magnetic control clay shock absorber, comprising: controllable electric power 2 and damper regulator 1, and described damper regulator is connected with controller by controllable electric power; Damper regulator changes the dumping force of the magnetic control clay generation in damper regulator by changing the electric current exported, magnetic control clay is the soft grain suspending fluid of a kind of magnetic, be injected into the magnet coil in damper piston when liquid after, the magnetic field of coil will change its rheological behavior (or producing fluid resistance), thus there is no electromechanical control valve and under the simple situation of mechanical device, produce be swift in response, dumping force that controllability is strong.
Controller 3, comprising: parameter prediction unit, collision judgment unit and current control unit.Parameter prediction unit is for estimating the initial current of initial velocity, crash type, desirable dumping force and damper regulator when automobile and obstacle collide; The input end of collision judgment unit is connected with the mouth of Signal-regulated kinase, and the mouth of collision judgment unit is connected with the input end of parameter prediction unit, and collision judgment unit is for judging whether collision time is less than preset safety time; The input end of current control unit is connected with the mouth of parameter prediction unit, and the mouth of current control unit is connected with the input end of controllable electric power, and current control unit changes outgoing current to damper regulator for controlling controllable electric power.
Wherein, distance detector can be radar or rang sensor etc., and distance detector is at least 2, what adopt in the present embodiment is radar, quantity is 4, and radar is fixedly mounted between Federal bumper and crossbeam by same level line, and with Federal bumper and crossbeam keeping parallelism.
Signal-regulated kinase at least comprises signal amplifier, filter and A/D converter, the input end of described amplifier is connected with the mouth of distance detector, the mouth of described amplifier is connected with the input end of filter, the mouth of described filter is connected with the input end of A/D converter, and the mouth of described A/D converter is connected with the input end of controller.The information collected is delivered to Signal-regulated kinase by radar system, through amplifying, after filtering process, change through conv again, analog signal is converted into digital signal, again digital signal information is delivered to controller, uses Signal-regulated kinase can improve the accuracy of radar collection range signal, effectively remove noise jamming.
As shown in Figure 2, a kind of auto against Prediction Control method based on magnetic control clay shock absorber, comprises the steps:
A. detect the time that automobile and obstacle collide, and compare with preset safety time, if collision time is less than preset safety time, then startup magnetic control clay shock absorber;
B. collision parameter when automobile and obstacle collide is estimated;
C. according to collision time and collision parameter, the initial current of the damper regulator before the collision in preset magnetic control clay shock absorber, damper regulator is made to produce the desirable dumping force of expection when colliding, and after collision occurs, by the output current value of damping adjusting regulating control, control the dumping force that magnetic control clay shock absorber produces.
Wherein, step a comprises the following steps again:
A1. the relative distance between automobile and obstacle is detected;
A2. according to the result of a measurement of step a1, the collision time between automobile and obstacle is calculated;
A3. collision time and preset safety time are compared, described preset safety time is response lag time and the sense cycle sum of relative distance between automobile and obstacle of magnetic control clay shock absorber.
A4. according to the result that step a3 compares, if collision time is more than or equal to safety time, then step a1 is returned; If collision time is less than safety time, then start magnetic control clay shock absorber.
Step a2 is divided into following steps again:
A21. according to the automobile of detection and the relative distance of obstacle, the relative velocity between automobile and obstacle is obtained by following formula:
In formula, T is the sense cycle of detection system, s
nthe relative distance of automobile and obstacle, s
n-1the automobile of last sense cycle and the relative distance of obstacle;
A22. according to the relative velocity between automobile and obstacle, the current acceleration/accel of automobile is obtained by following formula:
In formula, v
n-1the relative velocity that the upper cycle surveys;
A23. Newton's second law is utilized to obtain the collision time Δ t of automobile and obstacle:
A24. according to automobile and current relative velocity, acceleration/accel and the collision time of obstacle, the rate of onset of automobile and obstacle collision moment is obtained by following formula:
V
just=v
n+ a
nΔ t
In formula, v
nthe relative velocity between automobile and obstacle, a
nbe current acceleration/accel, Δ t is the collision time between automobile and obstacle;
In step a1, compare the relative distance s measured by 4 radars 5L1,5L2,5R1,5R2
ln1, s
ln2, s
rn1, s
rn2;
If s
ln1=s
ln2=s
rn1=s
rn2, then crash type is central collision;
If s
ln1=s
ln2or s
rn1=s
rn2, then crash type touches for biased;
If s
ln1, s
ln2, s
rn1, s
rn2unequal mutually, then crash type is oblique impact;
Distance s between radar surveying automobile and obstacle
n=min{s
ln1, s
ln2, s
rn1, s
rn2.
Wherein, step c comprises the following steps:
C1. the automobile desirable damping force models that magnetic control clay shock absorber produces in collision process is set up:
In formula, F
optfor the desirable dumping force that automobile is suffered in collision process, E
kfor the kinetic energy of the relative obstacle of automobile when colliding, s
efffor effective impact stroke of magnetic control clay shock absorber;
Wherein E
kobtained by following formula:
In formula, m is the quality of automobile, v
justfor initial velocity when automobile and obstacle collide;
C2. according to the collision parameter that step b estimates, the crash type collided according to automobile and obstacle, builds auto against kinetic model;
C3. according to auto against kinetic model and desirable damping force models, the initial current of the damper regulator in preset magnetic control clay shock absorber;
C4. according to the hysteresis quality of magnetic control clay shock absorber, utilize predictive control algorithm, change the exciting current of the damper regulator in magnetic control clay shock absorber.
Wherein, kinetic model described in step c2 take dynam as theoretical basis, the tangible or invisible model done in conjunction with concrete reality or virtual problem.In the present embodiment, construction force model is in order to how simulated automotive collides with obstacle.
Described in step c4, predictive control algorithm comprises the following steps:
C41. automobile and obstacle are at t
0moment collides, advance time t
0to the preset initial current I of damper regulator
just, I
just=β × I
first opt, wherein β=1.1 ~ 1.2,0 ~ t
0for the response lag time of magnetic control clay shock absorber, I
first optfor estimate collision time produce desirable damping force F
opttime export exciting current;
C42. at t
0moment automobile and obstacle collide, and control power supply and reduce to export exciting current, outgoing current is I
first opt, due to the hysteresis quality of magnetic control clay shock absorber, at t
1moment electric current reaches I
first opt, t
0~ t
1time is the response lag time that magnetic control cushions magnetic control clay shock absorber;
C43. at t
1moment controls power supply and increases output exciting current, and outgoing current is: β × I
end opt, wherein β=1.1 ~ 1.2, I
end optfor the ideal in the collision end moment estimated exports outgoing current, due to the response lag of magnetic control buffering magnetic control clay shock absorber, at t
2moment reaches β × I
end opt, t
1~ t
2for the response lag time of magnetic control buffering magnetic control clay shock absorber;
C44. at t
2moment reduces to export exciting current, and control electric power outputting current is I
end opt, until collision terminates.Before the collision, collision in and collision rift complete collision process in, the change of exciting current is as shown in Figure 4.
In the present embodiment, I
end optfor the collision end moment estimated produces the outgoing current of desirable dumping force, I
first optfor the initial time estimated produces the outgoing current of desirable dumping force, due to automobile collide time, magnetic control clay shock absorber produce dumping force comprise two parts, i.e. viscous force and Coulomb damping power, and outgoing current and Coulomb damping power have positive relationship, the moment is there is, viscous force and the combined action of Coulomb damping power in collision, and after collision terminates, viscous force becomes 0, the desirable dumping force produced is Coulomb damping power independent role, therefore as shown in Figure 4, and I
end opt>I
first opt.Described viscous force is because the flow velocity of each fluid layer of fluid is different, adjacent flow interlayer has relative motion, and just produce a kind of interactional shearing force on the contact surface, this power is called the internal friction of fluid, also referred to as viscous force, the viscous force that different materials fluid produces is also different.The account form of viscous force, Coulomb damping power and outgoing current is prior art, here repeats no more.
As shown in Figure 3: t
0moment collides, t
0the desirable crash acceleration obtained is predicted in line representative red after moment, and the curve of black represents actual collision acceleration/accel; According to initial relative velocity when colliding between automobile and obstacle and car mass, actv. Prediction Control is applied to buffer system, realize the ideal control that auto against accelerating curve reaches.
In the present embodiment, apply initial current in advance, can regulate magnetic control clay shock absorber before collision occurs like this.Due to the response lag of magnetic control clay shock absorber, in collision process, adopt opened loop control and Prediction Control strategy, effectively can regulate exciting current, so in collision process effective damping adjusting regulating control.Can be implemented in collision process and the ideal of auto against acceleration/accel is controlled.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (10)
1., based on an auto against Prediction Control method for magnetic control clay shock absorber, it is characterized in that: comprise the steps:
A. detect the time that automobile and obstacle collide, and compare with preset safety time, if collision time is less than preset safety time, then startup magnetic control clay shock absorber;
B. collision parameter when automobile and obstacle collide is estimated;
C. according to collision time and collision parameter, the initial current of the damper regulator before the collision in preset magnetic control clay shock absorber, damper regulator is made to produce the desirable dumping force of expection when colliding, and after collision occurs, by the output current value of damping adjusting regulating control, control the dumping force that magnetic control clay shock absorber produces.
2., according to claim 1 based on the auto against Prediction Control method of magnetic control clay shock absorber, it is characterized in that: step c comprises the following steps:
C1. the automobile desirable damping force models that magnetic control clay shock absorber produces in collision process is set up:
In formula, F
optfor the desirable dumping force that automobile is suffered in collision process, E
kfor the kinetic energy of the relative obstacle of automobile when colliding, s
efffor effective impact stroke of magnetic control clay shock absorber;
Wherein E
kobtained by following formula:
In formula, m is the quality of automobile, v
justfor initial velocity when automobile and obstacle collide;
C2. according to the collision parameter that step b estimates, auto against kinetic model is built;
C3. according to auto against kinetic model and desirable damping force models, the initial current of the damper regulator in preset magnetic control clay shock absorber;
C4. according to the hysteresis quality of magnetic control clay shock absorber, utilize predictive control algorithm, change the exciting current of the damper regulator in magnetic control clay shock absorber.
3., according to claim 2 based on the auto against Prediction Control method of magnetic control clay shock absorber, it is characterized in that: described in step c4, predictive control algorithm comprises the following steps:
C41. automobile and obstacle are at t
0moment collides, advance time t
0to the preset initial current I of damper regulator
just, I
just=β × I
first opt, wherein β=1.1 ~ 1.2,0 ~ t
0for the first response lag time of magnetic control clay shock absorber, I
first optfor the collision initial time estimated produces desirable damping force F
opttime export exciting current;
C42. at t
0moment automobile and obstacle collide, and control power supply and reduce to export exciting current, outgoing current is I
first opt, due to the hysteresis quality of magnetic control clay shock absorber, at t
1moment electric current reaches I
first opt, t
0~ t
1time is the second response lag time that magnetic control cushions magnetic control clay shock absorber;
C43. at t
1moment controls power supply and increases output exciting current, and outgoing current is: β × I
end opt, wherein β=1.1 ~ 1.2, I
end optfor the desired output current in the collision estimated last moment, due to the response lag of magnetic control buffering magnetic control clay shock absorber, at t
2moment reaches β × I
end opt, t
1~ t
2for the 3rd response lag time of magnetic control buffering magnetic control clay shock absorber;
C44. at t
2moment reduces to export exciting current, and control electric power outputting current is I
end opt, until collision terminates.
4. according to claim 1 based on the auto against Prediction Control method of magnetic control clay shock absorber, it is characterized in that: described collision parameter at least comprises initial velocity when automobile and obstacle collide and crash type, described crash type is divided into central collision, biasedly touches and oblique impact.
5., according to claim 4 based on the auto against Prediction Control method of magnetic control clay shock absorber, it is characterized in that: step a comprises the following steps:
A1. the relative distance between automobile and obstacle is detected;
A2. according to the result of a measurement of step a1, the collision time between automobile and obstacle is calculated;
A3. collision time and preset safety time are compared, described preset safety time is response lag time and the sense cycle sum of relative distance between automobile and obstacle of magnetic control clay shock absorber.
A4. according to the result that step a3 compares, if collision time is more than or equal to safety time, then step a1 is returned; If collision time is less than safety time, then start magnetic control clay shock absorber.
6., according to claim 5 based on the auto against Prediction Control method of magnetic control clay shock absorber, it is characterized in that: step a2 is divided into following steps:
A21. according to the automobile of detection and the relative distance of obstacle, the relative velocity between automobile and obstacle is obtained by following formula:
In formula, T is the sense cycle of detection system, s
nthe relative distance of automobile and obstacle, s
n-1the automobile of last sense cycle and the relative distance of obstacle;
A22. according to the relative velocity between automobile and obstacle, the current acceleration/accel of automobile is obtained by following formula:
In formula, v
n-1the relative velocity that the upper cycle surveys;
A23. Newton's second law is utilized to obtain the collision time Δ t of automobile and obstacle:
。
7., based on an auto against Prediction Control system for magnetic control clay shock absorber, comprising:
Detection system, for detecting the relative distance between automobile and obstacle;
Magnetic control clay shock absorber, comprising: controllable electric power and damper regulator, the dumping force that described damper regulator produces for changing magnetic control clay shock absorber, and damper regulator is connected with controller by controllable electric power;
Controller, is connected with detection system and magnetic control clay shock absorber respectively;
It is characterized in that: described controller comprises: parameter prediction unit, estimate the initial current of initial velocity, crash type, desirable dumping force and damper regulator when automobile and obstacle collide.
8. the auto against Prediction Control system based on magnetic control clay shock absorber according to claim 7, it is characterized in that: described detection system comprises: distance detector and Signal-regulated kinase, described distance detector is connected with controller by Signal-regulated kinase; Described distance detector is at least 2, and is fixedly mounted between Federal bumper and crossbeam by same level line, and with Federal bumper and crossbeam keeping parallelism.
9. the auto against Prediction Control system based on magnetic control clay shock absorber according to claim 8, it is characterized in that: described controller also comprises: collision judgment unit and current control unit, described collision judgment unit input end is connected with the mouth of Signal-regulated kinase, the mouth of collision judgment unit is connected with the input end of parameter prediction unit, and collision judgment unit judges whether collision time is less than preset safety time; The input end of described current control unit is connected with the mouth of parameter prediction unit, and the mouth of current control unit is connected with the input end of controllable electric power, and current control unit controls controllable electric power and changes outgoing current to damper regulator.
10. the auto against Prediction Control system based on magnetic control clay shock absorber according to claim 8, it is characterized in that: described Signal-regulated kinase at least comprises signal amplifier, filter and A/D converter, the input end of described amplifier is connected with the mouth of distance detector, the mouth of described amplifier is connected with the input end of filter, the mouth of described filter is connected with the input end of A/D converter, and the mouth of described A/D converter is connected with the input end of controller.
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| CN105422722A (en) * | 2016-01-07 | 2016-03-23 | 重庆大学 | Variable-damping clearance magneto-rheological buffer and self-adaptive control method thereof |
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| CN114291021B (en) * | 2021-11-25 | 2024-04-05 | 合众新能源汽车股份有限公司 | Active telescopic-based automobile collision control method and device |
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