809results about How to "Easy to control speed" patented technology

A cleaning robot a dirt recognition device thereof and a cleaning method of the robot are disclosed. The recognition device includes an image collecting module and an image processing module. The image collecting module may be used for collecting the image information of the surface to be treated by the cleaning robot and sending the image information to the image processing module. The image processing module may divide the collected image information of the surface to be treated into N blocks, extract the image information of each block and process the image information in order to determine the dirtiest surface to be treated that corresponds to one of the N blocks. Through the solution provided by the present invention, the cleaning robot can make an active recognition to the dirt such as dust, so that it can get into the working area accurately and rapidly.

The invention, which relates to the technical field of the radar target simulation, discloses a general signal generator for radar target simulation. With the signal generator, a defect that the existing radar target signal generator is based on a special-purpose signal generator and only serve a radar system with a specific type in terms of frequency band coverage and function setting and thus the application range is limited can be solved. The signal generator comprises an embedded main control computer, a timing sequence control unit, an attenuation drive, a local oscillation module, a filtering, amplifying and limiting amplitude power divider, a plurality of digital radio frequency storage and playback modules, a plurality of Doppler frequency simulation modules, a radar cross section control module, a noise modulation module, a microwave down mixer, and IQ up mixing unit and the like. The output terminal of the microwave down mixer is connected with the filtering, amplifying and limiting amplitude power divider; the multiple digital radio frequency storage and playback modules are connected to the filtering, amplifying and limiting amplitude power divider; and the output terminal of each digital radio frequency storage and playback module is connected with one Doppler frequency simulation module.

A rotary-table servo system neural network control method comprises (1) building a mechanical dynamic model of a permanent magnet synchronous motor rotary-table servo system, and initializing the system state, sampling time and relative control parameters; (2) according to the differential mean value theorem, enabling a non-linear input dead zone in the system to linearly approximate to a simple time-varying system, avoiding complex calculation of dead-zone inverse compensation, and finally inferring a rotary-table servo system model provided with an unknown dead zone; (3) at each sampling moment, calculating and controlling a system tracking error, a fast terminal sliding mode surface and a first-order derivative of the system; (4) based on the rotary-table servo system model provided with the unknown dead zone, selecting a neural network approaching unknown trend, designing an adaptive robust finite-time neural network controller according to the system tracking error, the fast terminal sliding mode surface and the first-order derivative of the system, and updating a neural network weight matrix; and (5) entering the next sampling moment, and repetitively executing the steps from (3) to (5).

A capacity control valve for increasing the ability to drain liquid refrigerant from a control chamber during startup of a variable-capacity compressor without changing the control valve characteristics has a spring acting in the direction of valve opening provided between an adapter and a free end of a pressure-sensitive body in the extension and contraction direction thereof and having an annular seat surface, and a third valve part having an annular engaging surface for opening and closing a suction-side passage by engaging and disengaging with the seat surface of the adapter.

The invention discloses an industrial laser guidance automatic guided vehicle (AGV) double-closed-loop control system and a control method thereof. The system consists of a detection module and a control module and is characterized in that: the detection module consists of an encoder serving as a motor position sensor and a laser scanner serving as an AGV position sensor; the control module consists of a servo driver and an industrial personal computer and is a double-position closed loop control module consisting of an inner position ring and an outer position ring; the inner position ring is a motor intersection angle position ring; the outer position ring is used for reading an AGV position signal by using the laser scanner; the path tracking error of the current position of an AGV is calculated by the AGV position signal fed back from the outer position ring; and the path tracking error is used as the input quantity of the control system. By the system and the method, the independent running function of the industrial laser guidance AGV can be well realized, and the rapidity and the stability of the path tracking of the AGV can be ensured.

The invention discloses a brain computer interface mouse control-based Internet browsing method, which comprises the following steps of: initializing a system; controlling a mouse to move to a target area in a browser interface based on motor imagery and P300 electroencephalogram potentials; if a target is a text input target, switching the interface to a P300 text input interface, inputting characters by using P300 signal detection, returning to the browser interface after finishing inputting the characters and writing text input results into a selected text input box; and if the target is not the text input target, judging whether to click the target or not according to the motor imagery and P300 electroencephalogram potential information, clicking the target to open a new interface if determining to click the target, otherwise, controlling the mouse to continuously move in the interface. The brain computer interface mouse control-based Internet browsing method has the advantages of high control speed, high accuracy, good effect, working stability and capacity of realizing continuous control, and can be used under the condition of irremovability of a body or the computer mouse due to external or internal factors.

The invention discloses a starting method and system for an air conditioner permanent magnetic synchronization fan motor. The method comprises: obtaining a DC bus voltage V[DC] through detection; according to Istartup=Istart+K* V[DC], obtaining a starting current Istartup; after the motor operates for a preset time at Istartup, respectively detecting and obtaining Iu, Iv and Iw; according to the Iu, the Iv or the Iw, estimating and obtaining an operation speed Wrest; when it is determined that the Wrest is not smaller than a preset starting speed, controlling the motor to operate through acceleration to a preset speed Wrref; detecting the operation speed, when it is determined that the operation speed is not smaller than the preset speed Wrref, obtaining an Idref and an Iqref by subjecting the difference between the Wrref and the Wrest to a PI operation; and obtaining an operation voltage by respectively subjecting the difference between the Idref and an Idest, and the difference between the Iqref and an Iqest to an PI operation.

The invention relates to a method for producing powder smelt screw ratchet, which comprises: mixing the materials, compressing molding, sintering, compressing and shaping, to obtain the ratchet. The invention also discloses a relative mould, which is formed by a compressing upper punch, compressing middle mould, compressing lower punch; the upper part of lower punch has the inner screw tooth matched with the outer screw tooth; the upper punch is sliding matched with the middle mould; the middle mould is sliding matched with the lower mould; the compressing core rod has compressing core rod, friction plate, and rotation element; the upper part of compressing core rod has outer screw tooth; the lower end of core rod and the upper end of rotating element have friction plate between them, while their contact surface has lubricant. The invention, via the rotation of core rod, realizes the one-time molding and demoulding of inner screw ratchet, to improve the yield and reduce the cost.

The present invention relates to a double ring detecting mechanism for robot joint speed reducer flexibility comprising angle detecting system, signal processing system and mechanism structure. Rotation angle detecting sensors are installed separately to the output end of the motor shaft and the output end of the reducer to measure the rotation angle of the motor shaft and the rotation angle of the joint; and the measured information is fed to the signal processing system to constitute the double ring detecting system capable of detecting the flexible rotation error of the joint reducer effectively and accurately.

Provided are a focal plane shutter, which can offer a live view function, and improve a control velocity of a shutter speed to reduce a time interval between shootings, a photographing apparatus including the focal plane shutter, and a photographing method for the photographing apparatus. The focal plane shutter includes: a front curtain; a rear curtain; a support part coupled to one side of the front curtain and the rear curtain; and a movable part movably contacting one side of the support part, wherein either the front curtain or the rear curtain is independently moved by the motion of the movable part.

The invention provides a method for casting aluminum piston with an insert ring and a cooling coil pipe, comprising steps as follows: (1) preparing aluminum alloy for piston; (2) melting; (3) mould setting of the cooling coil pipe; (4) mould casting of insert ring; (5) mould closing and pouring; (6) mould opening and heat treatment for taking out the casting, processing low temperature melting treatment and ageing heat treatment to obtain the piston blank; (7) post-treatment for carrying out mechanical processing and surface treatment on the piston blank to obtain the aluminum piston finished product. The invention also discloses a method for casting aluminum piston with an insert ring and a cooling coil pipe. Compared with the prior art, the advantages of the invention are as follows: the piston body has compact structure, and the combination between the wear resistant insert ring and the piston body through ultrasonic detection is good, and the position of the cooling coil pipe is precise and the anti-stretching intensity is high.

The invention relates to the technical field of numerical control, in particular to a method for a digital closed-loop control capacitance raising system. In a capacitance acquisition amplifier, the output end of an inductance-capacitance (LC) resonance circuit is connected with the input end of a signal amplifying circuit; in a raiser main control board, the output end of a signal receiving circuit is sequentially connected with the signal input end of a field programmable gate array (FPGA) chip, one input end of a main control board core processor and the other signal end of a servo motor interface circuit; the other two signal ends of the main control board core processor are respectively connected with one end of a human-machine interface and one end of an Ethernet interface in a bidirectional mode; the output end of the signal amplifying circuit is connected with the input end of the signal receiving circuit; and the output end of a magneto-electric conversion circuit of the signal receiving circuit is connected with the signal input end of the FPGA chip. Compared with the prior art, the method has the advantages that: after board capacitance is converted into digital frequency signals, the digital frequency signals are transmitted and measured, so that the method is strong in anti-jamming capability, is not limited by the transmission distance and is high in measurement precision.

The invention relates to the technical field of transfer films, in particular to a super-specular anti-scraping transfer film and a preparation method thereof. The preparation method of the super-specular anti-scraping transfer film comprises the following steps that a PET (Polyethylene Terephthalate) thin film is taken; waterborne polyurethane, an alcohol organic solvent and water in parts by weight are mixed and stirred uniformly, and blended into waterborne release dope; the surface of the PET thin film is coated with the blended waterborne release dope to form a waterborne release coating layer; the waterborne release coating layer is dried to be a waterborne release layer; a semifinished PET thin film loaded with the waterborne release layer is prepared; the outer surface of the waterborne release layer is coated with information coating layer dope to form an information coating layer; a vacuum aluminum coated layer and a gum application layer are arranged on the surface of the information coating layer sequentially; and the finished super-specular anti-scraping transfer film is prepared. The super-specular anti-scraping transfer film is high in scraping resistance, and high in specular glossiness, and the preparation method of the super-specular anti-scraping transfer film is simple in technology and high in production efficiency.

The invention provides a device and method for cooling an intermediate rolled blank of a hot rolled strip. The device comprises an upper collecting pipe arranged above roller beds and a lower collecting pipe arranged between the roller beds, wherein the upper collecting pipe and the lower collecting pipe are both provided with nozzles and opening and closing control valves and are connected with a workshop circulating water system through collecting pipe water supply pipelines; and the collecting pipe water supply pipelines are provided with flow control valves. The opening and closing control valves and the flow control valves are controlled by a programmable controller. A plurality of groups of cooling collecting pipes which can be independently controlled to open and close and has smaller flow are arranged between every two roller beds, the intermediate blank is cooled by adopting water jet, and the cooling speed is correspondingly dynamically controlled according to the transmission speed of the intermediate blank. The invention has the advantages of relatively simple structure of the device, low requirement for water quality, good flow stability and high production efficiency, and is convenient to maintain and free of limit of speed raising of a roughing mill and deceleration of throwing steel; rolling mill cooling water is adopted and a single water supply and drainage system is not needed; and grains of the intermediate blank are remarkably refined, and the mechanical property of a steel plate is improved.

The invention discloses a method and a device for the real-time compensation of the roll angle deviation of an airborne laser radar. A roll angle compensation control device and a roll angle driving device are designed mainly. The devices comprise a roll angle compensation controller, a laser Q switch control circuit, a pumping lamp high-frequency pulse power supply and an electro-optic Q switch.The roll angle compensation controller receives the roll angle deviation measured by a GPS / INS combined measuring system, combines a real-time angle measured by a rotary prism optical electric axial angle encoder for making a judgment and outputs a high-level conduction control signal; the signal and a high-frequency pulse signal of the pumping lamp power supply commonly act on the laser Q switchcontrol circuit so that the laser Q switch control circuit outputs the high-voltage pulse signal to the electro-optic Q switch in a control signal connection period so as to control a laser emitter to emit laser pulses in a proper scanning angle area to realize real-time high-precision compensation of the roll angle deviation.

The invention provides a low-nitrogen oxide discharging coal powder tangential combustion device, comprising a hearth; wherein the four corners of a main combustion area of the hearth are provided with primary air spray nozzles and secondary air spray nozzles which are arranged at intervals, and the axis of the primary air spray nozzles or the secondary air spray nozzles positioned on the same horizontal plane is tangential to a supposed tangential circle taking the center of the hearth as a circle center. The low-nitrogen oxide discharging coal powder tangential combustion device is characterized in that the four walls of the hearth above the primary air spray nozzles and the secondary air spray nozzles are provided with at least one burning-out air spray nozzle group; each burning-out air spray nozzle group comprises four burning-out air spray nozzles, one burning-out air spray nozzle is respectively arranged on one wall of the hearth, and the four burning-out air spray nozzles are positioned on the same horizontal plane; and the axis of the burning-out air spray nozzles in the same group are tangential to one supposed tangential circle taking the center of the hearth as a circle center. The invention can realize the low discharging of NOx, solves the problems of high content of fly ash combustible substances caused by a whole air classification technique in a furnace, high fume speed at a hearth outlet, large temperature deviation of the hearth outlet and the like, and increases the running regulation performance aiming at different coal species and load changes simultaneously.

The invention discloses a fast constant temperature microreactor. The fast constant temperature microreactor comprises a sample cell and at least one sample inlet and outlet arranged on the top of the sample cell, wherein the bottom of the sample cell is provided with an inert slab or a microfluidic chip, the top of the sample cell is provided with an inert thin layer, and a sample cell wall formed by a seal cushion is arranged between the inert slab and the inert thin layer; heatconducting blocks and temperature sensors are arranged on the inert thin layer, and the temperature sensors are covered in the heatconducting blocks; temperature control elements are arranged on the heatconducting blocks, and radiating blocks are arranged on the temperature control elements; the side walls of the heatconducting blocks and the side walls of the temperature control elements are covered by insulating housings; and the sample inlet and outlet of the sample cell is communicated with the outside by pipelines. The microreactor has compact size, can be used as a sample cell for a surface plasma resonator, a resonance light scattering apparatus and other analytical instruments to realize the fast temperature change and the accurate constant temperature control of samples in controlled elements, and can meet the operating requirement of high accuracy measurement on temperature-sensing biological samples.

The present invention discloses one kind of composite titania-alumina carrier and its preparation process and application. The composite carrier contains titania in 10-50 wt% and in anatase and / or rutile form and contains alumina in alpha-Al2O3 form. The composite carrier has acid surface and total acid amount of 0.6-8 A / g / sq cm. The preparation process includes the following steps: mixing titanium tetrachloride solution and AlCl3.6H2O crystal through stirring and diluting, mixing with sodium meta-aluminate solution to obtain aluminum titanium hydroxide precipitate, ageing, filtering, washing, drying, crushing, kneading, and roasting at 800-1200 deg.c to obtain the carrier. The composite carrier is used in selective hydrogenation and is favorable to reducing side product 'green oil' and prolonging the life of catalyst.

The invention discloses a two-dimensional cursor movement control system and method based on motor imagery and coded modulation visual evoked potential. The system comprises an electrode cap, an electroencephalography acquisition instrument, a system control unit, a data processing module, a cursor control module and a visual stimulator, wherein the visual stimulator is provided for a user in an interface display way. The method comprises the following steps that: the user simultaneously executes a motor imagery task and a visual attention task according to a work interface instruction; the electrode cap collects an electroencephalography signal; the electroencephalography acquisition instrument carries out amplification, filtering and analog-digital conversion on the electroencephalography signal; the system control unit separates the electroencephalography data generated by the motor imagery and the visual attention, and then, the electroencephalography data is stored; the data processing module carries out preprocessing, feature extraction and classification identification on two classes of electroencephalography data in sequence; and the cursor control module controls a cursor to carry out continuous two-dimensional movement according to classification identification. The system has the advantages of being high in control accuracy, good in robustness and the like, the continuous movement of a two-dimensional cursor can be realized, and the system can be used for the movement control of a computer mouse.

The invention discloses a human simulation dexterous hand based on shape memory alloy (SMA) flexible body intelligent digital composite structures. The human simulation dexterous hand is composed of the five different sizes of SMA flexible intelligent digital composite structures and flexible wrapping materials. The size of each SMA-flexible body intelligent digital composite structure corresponds to one finger and a metacarpal bone of the finger of a human hand. Each SMA flexible body intelligent composite structure is composed of two sections, one section is of a rigid structure simulating a metacarpal bone structure of the human hand, and the other section is of a flexible deformation structure simulating the finger part of the human hand. The SMA flexible body intelligent digital composite structures are composed of 3D metacarpal bones, intelligent digital driving skeletons, elastic sheets and the flexible wrapping materials. The SMA flexible body intelligent digital composite structures are composed of the intelligent digital driving skeletons, the sheets and the flexible wrapping materials, so that self-feedback control and digital bending motion can be realized. The dexterous hand has the advantages that the simulation degree of shapes and motion is high, cost is low, safety and compatibility are good, and controllability is high.

The embodiment of the invention discloses a conveying device. The device comprises an outer conveying tube, a push rod structural component, an inner tube structural component and a functional handle, wherein at least two fixed claw hooks are arranged on the top of a fixed claw in the push rod structural component. In the embodiment of the invention, at least two fixed claw hooks are arranged on the top of the fixed claw, and the fixed claw hooks are hooked on a recycling hole of a valved stent when the device is used, and the device is released layer by layer, so that the heart valve can be recycled at any time through a handle if the heart valve is not placed on a proper position by a unique connecting mode of the conveying device and the heart valve.

The invention provides a dragging, translating and lowering device for dismantling a pier top beam section and a pier. The device comprises four supporting points, wherein each supporting point comprises four steel pipe piles, four steel pipe supporting frames, four transverse girders, four longitudinal translation beams, two longitudinal translation devices and two lifting and lowering systems; transverse translation beams can move in a transverse direction; the longitudinal translation devices are arranged at the upper parts of the transverse translation beams; the lifting and lowering systems are fixed on the longitudinal translation devices; the transverse translation beams are used for adjusting transverse positions of the lifting and lowering systems; the longitudinal translation devices are used for adjusting longitudinal positions of the lifting and lowering systems; and the lifting and lowering systems are used for lifting or lowering the pier top beam section and the pier. A dragging, translating and lowering method for dismantling the pier top beam section and the pier, provided by the invention, is capable of economically and efficiently solving a dismantling problem of a pier top box beam and pier structure under in the absence of the hoisting of a crane, suitable for dismantling the pier top beam section and the pier of a beam bridge or a bridge with a concrete girder and especially suitable for dismantling engineering for the pier top box beam and pier structure of a multi-span continuous beam bridge using a whole-span lowering dismantling technology.

The invention relates to a coal pyrolysis layer combustion device and the combustion method thereof, including that the furnace body interior of the first layer combustion furnace is divided into an upper oxidation pyrolysis chamber and a lower fire grate layer combustion chamber which is communicated with each other; the coal and desulfurizer are mixed to be fed into the middle part of the oxidation pyrolysis for oxidation pyrolysis through a hopper; the generated combustible gas and the smaller semi-coke particles are overflowed through the upper-connected through port or are carried in the airflow to be fed into the mechanical fire grate layer combustion chamber; the bigger semi-coke particles fall on the mechanical fire grate and are fed into the layer combustion layer for combustion; the mechanical fire grate layer combustion chamber is provided with a front arch and a back arch for organizing the airflow field inside the furnace; the coal pyrolysis layer combustion device and the combustion method thereof adopt the fluidization characteristics of the coal particles with different particle diameters and the high thermal capacity characteristic inside the oxidation pyrolysis chamber to realize the natural separation of the coal particles with different particle diameters and the rapid oxidation pyrolysis of coal, reduce the fire grate coal leakage loss and the incomplete combustion loss caused by the front segment low temperature of the fire grate and reduce the emission of the SOx and NOx pollutant through the combination of the pyrolysis desulfurization and the combustion desulfurization, and the reburning denitration formed by the coal pyrolysis product.

The invention discloses a puffing combination pump apparatus used for ice cream makers. The apparatus comprises fixed boxes, combination pumps arranged in the fixed boxes, tee pipe joints, and feeding assemblies and discharging assemblies which are respectively connected with the combination pump; and every combination pump comprises a liquid pump and an air pump which are integrated into one, the feeding openings of liquid pumps are connected with the feeding assemblies, the discharging openings of liquid pumps are in threaded connection with the tee pipe joints, and the air outlets of the air pumps are connected with the discharging assemblies through the tee pipe joints. The puffing combination pump apparatus can effectively improves the puffed rate of ice cream to 55-65%, has a very substantial and stable puffing effect, makes ice cream made by using the apparatus have fine, soft and smooth mouthfeel, and has the characteristics of simple structure, low cost, convenient cleaning and detaching, good reliability, greenness and environmental protection. The invention also discloses an ice cream maker.

The invention belongs to the field of chemical processing, and particularly relates to a synthesis method of an isocyanate curing agent. The synthesis method comprises the following steps: (1) synthesis of an organic silicon modified polyaspartate prepolymer: taking amino siloxane, dropwise adding maleate in equal molar weight with the amino siloxane, and carrying out heat preservation treatment after dropwise adding is completed, thus obtaining the polyaspartate prepolymer; (2) synthesis of the isocyanate curing agent: dropwise adding the polyaspartate prepolymer into an isocyanate tripolymer which is equivalently in equal molar weight with the polyaspartate prepolymer, and carrying out heat preservation after the dropwise adding is completed, thus obtaining the organic silicon modified isocyanate curing agent. In the technology, the rising of reaction temperature is not vigorous, the speed is controllable, and synthetic isocyanate is low in viscosity and can be directly applied to the industry of two-component polyurethane coating; silicon oxygen bonds and aspartate structures are introduced to polyurethane, so that the adhesion of a polyurethane coating film can be effectively increased, and the properties of high temperature resistance, aging resistance, salt fog resistance and the like are increased; the market prospect and the economic value are huge.

The invention discloses a general miniaturization digital electric steering engine controller and a control method thereof. The general miniaturization digital electric steering engine comprises a signal conditioning module, an AD sampling module, a parallel-to-serial module, a steering engine algorithm module, a serial-to-parallel module, a steering engine driving control module, a steering engine driving module, a displacement detecting circuit and a current detecting circuit, wherein the displacement detecting circuit and the current detecting circuit output analog position signals and analog current signals of m steering engines, and m is greater than or equal to 2; one channel of serial position signal, one channel of serial current signal and one channel of serial instruction signal are obtained by the signal conditioning module, the AD sampling module and the parallel-to-serial module and are fed into the steering engine algorithm module; the steering engine algorithm module is used for performing position and current double closed loop control on a steering engine drift angle and outputting one channel of serial control signal; and the serial control signal is converted into m channels of parallel control signals required by the steering engine through the serial-to-parallel module and the parallel control signals are outputted to the steering engine driving control module; and the steering engine driving control module and the steering engine driving module drive a motor to rotate. The general miniaturization digital electric steering engine controller and the control method thereof disclosed by the invention are high in control speed and stability.

This invention provides an apparatus for assaying clotting activity. The apparatus includes an inlet for a blood fluid and two or more patches of material in the vessel. The material is capable of initiating a clotting pathway in a blood fluid. This invention also provides an apparatus for measuring clot propagation, which includes a region with material capable of initiating a clotting pathway, and a region where the clot propagation is monitored. Also provided are methods for assaying clotting activity, assaying the integrity of a blood clotting pathway, assaying the effect of a substance on the integrity of a blood clotting pathway, monitoring clot propagation, and preventing clot propagation from one vessel to another.

The embodiment of the invention discloses a longitudinally superposed developing three-strata oil reservoir well pattern and a deployment method of the longitudinally superposed developing three-strata oil reservoir well pattern. To the longitudinally superposed developing three-strata oil reservoir, the well spacing of a basic well pattern is 2*(square root of 2)*L; after being encrypted once, the well spacing of a middle transitional well pattern is 2L; after being encrypted twice, two superposed inverted nine-spot well patterns with well spacing of 2L are formed; after being encrypted for three times, two superposed inverted nine-spot well patterns with well spacing of 2L and one superposed inverted nine-spot well pattern with well spacing of (square root of 2)*L are formed; and after pairwise alternatively development, the well spacing of the plane well pattern of each strata has a rational well spacing of L; the evolution process of the well spacing is as follows: 2*(square root of 2)* L to 2L to (square root of 2)*L to L; the middle process of well patterns conversion with a well spacing of 2L and (square root of 2)*L is added; at the same drilling speed, well placement uniformity coefficient and reserve control speed are increased; the well spacing is encrypted in the alternation of well patterns; each well pattern can realize order development to each longitudinal strata; the utilization ratio of the well patterns is improved; meanwhile, the oil reservoir is uniformly used, so that the method is in favor of increasing accumulated oil production of an oil field and improving the recovery ratio; and interlayer interference generated by commingled extracting oil in multiple oil layers of longitudinal series of strata is avoided.

According to a WDM optical transmission system of the present invention, wavelength numbers information of a WDM signal light output from an upstream side optical amplifying unit to a transmission path fiber, and signal output level information thereof are transmitted to a downstream side optical amplifying unit utilizing a supervisory control light. In the downstream side optical amplifying unit, a loss (span loss) in the transmission path fiber is computed using the upstream side signal output level information and downstream side signal input level information, so that a gain to be set for a downstream side optical amplifier is calculated based on the computed loss, and also, the gain is corrected based on a difference between a target value of the signal output level computed using the wavelength numbers information and an actual measurement value thereof, so that the optical amplifier is controlled in accordance with the post-corrected gain. As a result, it becomes possible to reduce an influence by a measurement error of the span loss, to thereby control the optical amplifier at a high-speed and with high precision.