The detailed hardware circuit is given and the software control strategy was designed, and the self-adaptive parameter PI arithmetic was adopted.

设计了具体硬件电路和软件控制策略，控制算法采用参数自适应PI控制。

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In the HGA , heuristic algorithm is used to produced initial population , self-adaptive parameter are used in copy operator, crossover operator and mutation operator .

混合遗传算法在产生初始种群时引入启发式方法，采用自适应遗传参数和交替使用两种交叉算子；

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The parameter of the controller can be auto-adjusted by the error, error change and the integral value. It makes the fuzzy controller have the ability of self-adaptive.

该控制器能够根据系统的误差、误差变化及误差积分值自动调整控制器的控制参数，使模糊控制器具有自适应的能力。

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