Abstract: A method for controlling lane changing of a vehicle, including: receiving a lane changing instruction (step 101); acquiring a speed parameter of the vehicle (step 102); according to the speed parameter, determining a controlling coefficient of a predetermined controller (step 103); acquiring a position-deviation parameter and a heading-angle parameter of the vehicle; if the position-deviation parameter is greater than or equal to a first threshold, or, if the heading-angle parameter is greater than or equal to a second threshold, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining a target steering-wheel steering angle of the vehicle; and according to the target steering-wheel steering angle, controlling the vehicle to perform a lane changing operation, till the position-deviation parameter is less than the first threshold, and the heading-angle parameter is less than the second threshold (step 105).

Abstract: A food waste disposer includes a food conveying section, a grind and discharge section and a motor section used for driving the grind and discharge section to execute a grinding process. The motor section includes a universal motor, the universal motor includes a control device for controlling the output of the universal motor, and the control device includes a rectifier bridge circuit module for converting an AC power signal into a DC power signal.

Abstract: A food waste disposer includes a food conveying section, a grind and discharge section and a motor section used for driving the grind and discharge section to execute a grinding process. The motor section includes a universal motor, the universal motor includes a control device for controlling the output of the universal motor, and the control device includes a rectifier bridge circuit module for converting an AC power signal into a DC power signal.