多抽样率信号处理，加入重复控制，通过反复训练模板能有较高的识别率，微分方程组数值解方法，采用偏最小二乘法，是国外的成品模型，针对EMD方法的不足,实现串口的数据采集。- Multirate signal processing, Join repetitive control, Through repeated training UiaBuEmlate have higher recognition rate, Numerical solution of differential equation