CN114060826B - Automatic incineration control method and control system for incinerator - Google Patents
Automatic incineration control method and control system for incinerator Download PDFInfo
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- CN114060826B CN114060826B CN202111396230.0A CN202111396230A CN114060826B CN 114060826 B CN114060826 B CN 114060826B CN 202111396230 A CN202111396230 A CN 202111396230A CN 114060826 B CN114060826 B CN 114060826B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000002485 combustion reaction Methods 0.000 claims abstract description 30
- 238000009826 distribution Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 14
- 238000010438 heat treatment Methods 0.000 claims description 10
- 238000001704 evaporation Methods 0.000 claims description 9
- 230000008020 evaporation Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 6
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 5
- 239000003546 flue gas Substances 0.000 claims description 5
- 238000003331 infrared imaging Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 239000002918 waste heat Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000000779 smoke Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005338 heat storage Methods 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 238000004939 coking Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000001301 oxygen Substances 0.000 description 3
- 229910052760 oxygen Inorganic materials 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 238000003892 spreading Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 206010053615 Thermal burn Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23G—CREMATION FURNACES; CONSUMING WASTE PRODUCTS BY COMBUSTION
- F23G5/00—Incineration of waste; Incinerator constructions; Details, accessories or control therefor
- F23G5/50—Control or safety arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Incineration Of Waste (AREA)
Abstract
The invention discloses an automatic incineration control method and system for an incinerator, which belong to the technical field of garbage incineration and are used for solving the technical problem of unstable combustion caused by unstable heat value of garbage in China at present, and the method comprises the following steps: s01, presetting incinerator incineration parameters under different garbage heat values; the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer; s02, acquiring a real-time garbage heat value under the combustion condition of the incinerator; and S03, carrying out automatic incineration control according to the incinerator incineration parameters corresponding to the real-time garbage heat value, so that the position of the fire wire is controlled at a preset position. The invention can keep the fire wire position at a proper position, thereby ensuring that the incinerator is in an optimal running state and being beneficial to stable combustion of the incinerator.
Description
Technical Field
The invention mainly relates to the technical field of garbage incineration, in particular to an automatic incineration control method and system for an incinerator.
Background
With the importance of the national environmental protection, the incineration power generation is used as a mature harmless treatment technology for urban household garbage and is widely applied in various places of the country. Compared with an artificial burner, the garbage incinerator adopting automatic combustion control can lighten the labor intensity of operators, stabilize the oxygen content at the outlet of a hearth, avoid the fluctuation of a system to a greater extent, ensure the stable combustion working condition of the incinerator to be conducive to prolonging the service life of a boiler, reduce the abrasion of a fire grate, the corrosion of the boiler and the number of pipe explosion, and have great economic benefit, so the garbage incinerator has higher practical significance for the combustion control research of the garbage incinerator.
At present, most domestic garbage incinerators are provided with an ACC automatic incineration control system matched with the domestic garbage incinerators, and the ACC control system can realize better control on a boiler when the garbage components are single and the heat value is stable. The ACC control system shown in fig. 4 is composed of the following 6 controls: ① Main steam flow control; ② Controlling the thickness of the garbage material layer; ③ Combustion position control; ④ Thermal burn rate control (upper temperature control of the burn-out grate); ⑤ Furnace temperature control (850 ℃,2 seconds of retention in the furnace); ⑥ Oxygen concentration control. The main control target in the ACC system is evaporation amount, and the main control condition is garbage heat value. On the basis, the ACC system comprises combustion supporting air quantity control, incinerator inner temperature control, feeding speed control of a feeding grate, oxygen content of flue gas and slag burning rate control, and automatic control of the whole incinerator combustion grate is formed. In the ACC system, garbage heat value is used as the most important control condition, but has the characteristics of instability and unpredictability.
The garbage incinerator has the combustion characteristics of a grate type garbage incinerator, has the characteristics of multiple variables, large hysteresis, insufficient reference points and the like, and has the advantages that the components of domestic garbage are complex, the heat value changes greatly and the influence of seasons is obvious, so that the heat entering the incinerator is continuously changed, the frequent fluctuation of the load of the boiler is caused, and the emission control of smoke pollutants is unstable. When the heat value of the garbage changes, the combustion condition is manually observed by a driller to judge and adjust. Therefore, the requirements on the experience of the operators are higher, and the labor intensity of the operators is increased.
In the process of realizing the patent application, the applicant finds that the factors of the fire laying area in the incinerator and the fire wire position (burning position) of the burning-out section have important influence on the whole operation condition of the incinerator in the production operation condition. When the heat value of the garbage is low, the fire spreading area is increased to enable the fire wire to burn out near the front end, so that the heat storage quantity in the furnace can be effectively increased, and the evaporation quantity and the flue gas index tend to be more stable; when the heat value of the garbage is higher, the fire wire is properly retreated, so that the abrasion and burning of fire grate segments at the tail end of the combustion section can be effectively prevented, and the coking condition in the whole hearth is improved.
In particular, as shown in figures 1,2 and 3, the waste exhibits a final waste burn-out position under the control of the different firing line modules. When the heat value of the garbage is higher, the final control effect of the selected control module is shown as shown in figure 1, the garbage burns out at the tail end of the combustion section, and the damage of fire grate segments at the tail end of the combustion section can be effectively prevented. When the heat value of the garbage is lower, the final control effect of the selected control block is shown as shown in fig. 2 and 3, the garbage is burnt out in the burn-out section, and the fire spreading area is larger at the moment, so that the heat storage capacity of the whole hearth can be effectively improved, and the temperature, load and smoke index of the hearth are kept stable.
That is, in the prior art, the control object of the fire wire is not added into the combustion control, and the current domestic garbage is that the fluctuation of the garbage heat value is large, and the incinerator in the existing ACC control module cannot always meet the stable combustion under different garbage heat values.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides an automatic burning control method and system for a burning furnace with stable burning.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an automatic incineration control method of an incinerator comprises the following steps:
s01, presetting incinerator incineration parameters under different garbage heat values; the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer;
s02, acquiring a real-time garbage heat value under the combustion condition of the incinerator;
And S03, carrying out automatic incineration control according to the incinerator incineration parameters corresponding to the real-time garbage heat value, so that the position of the fire wire is controlled at a preset position.
Preferably, after step S03, step S04 is further included: the fire wire position is detected in real time to form closed loop control.
Preferably, the fire wire position is detected by infrared imaging or a camera.
Preferably, in step S02, the garbage heat value is comprehensively determined by the stable evaporation amount, the stable flue gas parameters and the temperature measuring point under each fire grate.
Preferably, in step S03, the incineration automatic control process is: under the first heat value, the control coefficient of each incineration parameter is a first control coefficient, and finally the garbage burns to be in an ideal state at a first preset distance below the burning section and the burn-out drop section; when the heat value rises to the second heat value, the control coefficient of the controlled object is a second control coefficient, and the garbage burns out to be in an ideal state at a second preset distance below the drop section; when the heat value rises to the third heat value, the control coefficient of the controlled object is the third control coefficient, and the garbage directly burns out on the combustion section to be in an ideal state; wherein the first heating value < the second heating value < the third heating value; the first control coefficient > the second control coefficient > the third control coefficient; the first preset distance > the second preset distance.
Preferably, the first heat value is 7000MJ/kg, the second heat value is 7500MJ/kg, and the third heat value is 8500MJ/kg; the first control coefficient is 1, the second control coefficient is 0.9, and the third control coefficient is 0.8; the first preset distance is 1m, and the second preset distance is 0.5.
Preferably, in step S01, different garbage heat values correspond to different fire wire control modules, and different fire wire control modules correspond to different incineration parameters.
The invention also discloses an automatic incineration control system of the incinerator, which comprises:
The pre-setting module is used for pre-setting incinerator incineration parameters under different garbage heat values; the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer;
the acquisition module is used for acquiring the real-time garbage heat value under the combustion condition of the incinerator;
And the control module is used for automatically controlling the incineration according to the incineration parameters of the incinerator corresponding to the real-time garbage heat value so as to control the position of the fire wire at a preset position.
The present invention further discloses a computer readable storage medium having stored thereon a computer program which, when run by a processor, performs the steps of the incinerator automatic incineration control method as described above.
The invention also discloses a computer device comprising a memory and a processor, the memory storing a computer program which, when run by the processor, performs the steps of the incinerator automatic incineration control method as described above.
Compared with the prior art, the invention has the advantages that:
The invention takes the influence factor of the fire wire on the incinerator as an entry point, and builds the corresponding incineration parameters under different garbage heat values; when the garbage heat values are different, corresponding incineration parameters are switched to realize accurate control of the incinerator fire line, so that the boiler is ensured to always operate in an optimal control state; when the heat value of the garbage is good and the incineration is stable, the fire wire can automatically move backwards so as to protect fire grate pieces and slow down the coking of a hearth; when the heat value of the garbage is low, the fire wire automatically moves forwards, and the heat storage capacity of the boiler is increased, so that the boiler is more stable and reliable; the fire wire position can be kept at a proper position, so that the incinerator is in an optimal running state, and stable combustion of the incinerator is facilitated. In addition, the automatic detection of the position of the burning-out fire wire is realized, and the change quantity of the position of the fire wire is fed back to the logic configuration of the DCS to form closed-loop control, so that the automatic adjustment of the fire wire control function block is realized.
Drawings
FIG. 1 is a schematic diagram of a refuse burnout location.
FIG. 2 is a second schematic view of the refuse burnout position.
FIG. 3 is a third schematic view of the refuse burnout position.
Fig. 4 is a control block diagram of a conventional ACC.
Fig. 5 is a block diagram of a control method according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 5, the automatic incinerator incineration control method according to the embodiment of the present invention includes the steps of:
s01, presetting incinerator incineration parameters under different garbage heat values; the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer;
s02, acquiring a real-time garbage heat value under the combustion condition of the incinerator;
S03, carrying out automatic incineration control according to incinerator incineration parameters corresponding to the real-time garbage heat value so as to control the position of the fire wire at a preset position;
S04, detecting the position of the live wire to form closed loop control. Specifically, the live wire position is detected through infrared imaging, and the detection accuracy is high. Of course, the detection of the position of the live wire can also be realized by adopting a camera and the like.
Aiming at the current situation that the heat value of the garbage in China is unstable, the invention takes the influence factor of the fire wire on the incinerator as an entry point, and builds the corresponding incineration parameters under different heat values of the garbage; when the garbage heat values are different, corresponding incineration parameters are switched to realize accurate control of the incinerator fire line, so that the boiler is ensured to always operate in an optimal control state; when the heat value of the garbage is good and the incineration is stable, the fire wire can automatically move backwards so as to protect fire grate pieces and slow down the coking of a hearth; when the heat value of the garbage is low, the fire wire automatically moves forwards, and the heat storage capacity of the boiler is increased, so that the boiler is more stable and reliable; the fire wire position can be kept at a proper position, so that the incinerator is in an optimal running state, and stable combustion of the incinerator is facilitated. In addition, the automatic detection of the position of the burning-out fire wire is realized, and the change quantity of the position of the fire wire is fed back to the logic configuration of the DCS to form closed-loop control, so that the automatic adjustment of the fire wire control function block is realized.
In a specific embodiment, in step S02, the garbage heat value is comprehensively determined by the evaporation amount stabilization condition, the smoke parameter stabilization condition and the temperature measurement point condition under each fire grate.
In one embodiment, in step S03, the automatic incineration control process is as follows: under the first heat value, the control coefficient of each incineration parameter is a first control coefficient, and finally the garbage burns to be in an ideal state at a first preset distance below the burning section and the burn-out drop section; when the heat value rises to the second heat value, the control coefficient of the controlled object is a second control coefficient, and the garbage burns out to be in an ideal state at a second preset distance below the drop section; when the heat value rises to the third heat value, the control coefficient of the controlled object is the third control coefficient, and the garbage directly burns out on the combustion section to be in an ideal state; wherein the first heating value < the second heating value < the third heating value; the first control coefficient > the second control coefficient > the third control coefficient; the first preset distance > the second preset distance. Wherein the first heat value is 7000MJ/kg, the second heat value is 7500MJ/kg, and the third heat value is 8500MJ/kg; the first control coefficient is 1, the second control coefficient is 0.9, and the third control coefficient is 0.8; the first preset distance is 1m, and the second preset distance is 0.5. Of course, in other embodiments, each of the heating values, the control coefficients, and the preset distance may be selected according to the actual situation.
In a specific embodiment, in step S01, different garbage heat values correspond to different fire wire control modules, and different fire wire control modules correspond to different incineration parameters. The automatic control object of the fire wire is modularized, so that the function switching is facilitated, and the fire wire is more flexible and changeable in use.
The invention is described in further detail below in connection with a specific complete embodiment:
1. Writing a fire wire control module aiming at different garbage heat values so as to adapt to garbage incineration under different heat values;
Wherein, the different garbage heat values correspond to different primary air temperatures, air distribution under each grate segment, speed of each grate segment, running speed of the pusher and garbage layer thickness.
2. Judging the heat value of the waste of the boiler at the moment;
Comprehensively judging the heat value by the stable evaporation amount, the stable flue gas parameters and the temperature measuring point under each grate; currently, operators can estimate the heat value through the three points by experience: when the evaporation capacity is stable, the smoke parameter value is stable, and the temperature of each fire grate measuring point is high, the garbage heat value is high at the moment, and the range of the third heat value is about; when the evaporation quantity slightly fluctuates, the smoke parameter value slightly fluctuates, the temperature of the fire grate of the combustion section is 300-450 ℃, and the temperature of the fire grate of the drying section is about 100 ℃, the heat value can be judged to be about the second heat value; when the fluctuation of the evaporation capacity is large, the fluctuation of the smoke parameter value is large, the temperature of the fire grate is generally low, and the condition that the garbage is low and the first heat value is about can be judged. In addition, the accurate heat value of the current garbage can be directly calculated through the existing ACC system (total heat of the garbage in the furnace/weight of the garbage in the furnace=heat value of the garbage in the furnace).
3. Switching to a corresponding control module;
And (5) observing whether the fire wire position and the boiler combustion condition are stable. If the live wire does not reach the expected value after switching, module adjustment can be continued to reach the expected value;
The garbage heat value can be automatically judged, so that the fire wire control module is automatically switched, and the fire wire position is fed back to the DCS through an infrared imaging technology to form closed-loop control, so that the fire wire is always stabilized at the most suitable position.
4. The fire wire control modules under different heat values are compiled in advance, for example, the fire wire control modules under the corresponding garbage heat values 6500MJ/kg, 7000MJ/kg, 7500MJ/kg, 8000MJ/kg, 8500MJ/kg and 9000MJ/kg are compiled. Under the corresponding condition of different fire wire control modules, the parameters of the pusher, the fire grate speed, the garbage layer thickness, the fire grate lower air quantity and the primary air temperature are different, and under the simultaneous action of a plurality of controlled quantities, the fire wire position is at an ideal position.
For example, the control coefficient of each controlled object (the pusher, the grate speed, the garbage layer thickness, the grate lower air quantity and the primary air temperature) is 1 under the heat value of 7000MJ/kg, and finally the garbage burns off at one meter below the burning and burning off drop section to be in an ideal state. When the heat value rises to 7500MJ/kg, the control coefficient of the controlled object is 0.9, and the garbage burns off at 0.5 m below the drop section to be in an ideal state. When the heat value is increased to 8500MJ/kg, the control coefficient of the controlled object is 0.8, and the garbage is directly burnt on the combustion section to be in an ideal state.
The embodiment of the invention also discloses an automatic incineration control system of the incinerator, which comprises the following steps:
The pre-setting module is used for pre-setting incinerator incineration parameters under different garbage heat values; wherein the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer;
the acquisition module is used for acquiring the real-time garbage heat value under the combustion condition of the incinerator;
And the control module is used for automatically controlling the incineration according to the incineration parameters of the incinerator corresponding to the real-time garbage heat value so as to control the position of the fire wire at a preset position.
The control system of the present invention corresponds to the control method described above, and also has the advantages described in the control method described above.
The embodiment of the invention also discloses a computer readable storage medium, on which a computer program is stored, which when being run by a processor, performs the steps of the incinerator automatic incineration control method as described above. The embodiment of the invention also discloses a computer device which comprises a memory and a processor, wherein the memory is stored with a computer program which executes the steps of the automatic incinerator burning control method when being run by the processor. The present invention may be implemented by implementing all or part of the procedures in the methods of the embodiments described above, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The memory may be used to store computer programs and/or modules, and the processor performs various functions by executing or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may include high speed random access memory, but may also include non-volatile memory such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device, etc.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (9)
1. An automatic incineration control method of an incinerator is characterized by comprising the following steps:
s01, presetting incinerator incineration parameters under different garbage heat values; the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer;
s02, acquiring a real-time garbage heat value under the combustion condition of the incinerator;
S03, carrying out automatic incineration control according to incinerator incineration parameters corresponding to the real-time garbage heat value so as to control the position of the fire wire at a preset position;
After step S03, further comprising step S04: the fire wire position is detected in real time to form closed loop control.
2. The automatic incineration control method for an incinerator according to claim 1, wherein the fire wire position is detected by infrared imaging or a camera.
3. The automatic incineration control method for an incinerator according to claim 1 or 2, wherein in step S02, the garbage heat value is comprehensively judged by the stable evaporation amount, the stable flue gas parameters and the temperature measuring point under each fire grate.
4. The automatic incineration control method for an incinerator according to claim 1 or 2, characterised in that in step S03, the automatic incineration control process is: under the first heat value, the control coefficient of each incineration parameter is a first control coefficient, and finally the garbage burns to be in an ideal state at a first preset distance below the burning section and the burn-out drop section; when the heat value rises to the second heat value, the control coefficient of the controlled object is a second control coefficient, and the garbage burns out to be in an ideal state at a second preset distance below the drop section; when the heat value rises to the third heat value, the control coefficient of the controlled object is the third control coefficient, and the garbage directly burns out on the combustion section to be in an ideal state; wherein the first heating value < the second heating value < the third heating value; the first control coefficient > the second control coefficient > the third control coefficient; the first preset distance > the second preset distance.
5. The automatic incinerator incineration control method according to claim 4, wherein the first heat value is 7000MJ/kg, the second heat value is 7500MJ/kg, and the third heat value is 8500MJ/kg; the first control coefficient is 1, the second control coefficient is 0.9, and the third control coefficient is 0.8; the first preset distance is 1m, and the second preset distance is 0.5.
6. The automatic incineration control method for an incinerator according to claim 1 or 2, wherein in step S01, different waste heat values correspond to different fire wire control modules, and different fire wire control modules correspond to different incineration parameters.
7. An automatic incinerator incineration control system for executing the steps of the automatic incinerator incineration control method according to any one of claims 1 to 6, characterised by comprising:
The pre-setting module is used for pre-setting incinerator incineration parameters under different garbage heat values; the incineration parameters comprise one or more of primary air temperature, air distribution under each grate segment, speed of each grate segment, running speed of a pusher and thickness of a garbage layer;
the acquisition module is used for acquiring the real-time garbage heat value under the combustion condition of the incinerator;
And the control module is used for automatically controlling the incineration according to the incineration parameters of the incinerator corresponding to the real-time garbage heat value so as to control the position of the fire wire at a preset position.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the automatic incineration control method of an incinerator according to any one of claims 1 to 6.
9. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when run by the processor, performs the steps of the automatic incinerator incineration control method according to any one of claims 1 to 6.
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