diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java
index 7546441..13dfd93 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.debug;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
@@ -7,6 +8,8 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -27,6 +30,7 @@ public class DebugBeeOpenCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         String mode = cmdDTO.getStringParam("mode");
+        Assert.notNull(mode, ()->new AppException(ResultCode.INVALID_PARAMETER));
         return runAsync(() -> {
             DeviceCommandBundle beeOpenDeviceCommand = DeviceCommandGenerator.beepOpen(mode);
             CommandFuture doorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), beeOpenDeviceCommand);
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java
index 170e62d..e596b64 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java
@@ -38,8 +38,8 @@ public class DebugDoorOpenCommand extends BaseCommandHandler {
                 CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
                 CommandUtil.wait(doorSetDeviceCommandSetFuture);
             }
-
-            CommandFuture deviceCommandOpenFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.doorMove(devicePosition.getDistance()));
+            DeviceCommandBundle doorMoveDeviceCommand =DeviceCommandGenerator.doorMove(devicePosition.getDistance());
+            CommandFuture deviceCommandOpenFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorMoveDeviceCommand);
             CommandUtil.wait(deviceCommandOpenFuture);
         });
     }
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java
index 4790c6d..5c3b61f 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.debug;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
@@ -8,6 +9,8 @@ import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -30,6 +33,8 @@ public class DebugHeaterStartCommand extends BaseCommandHandler {
         String heatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
         Double temperature = cmdDTO.getDoubleParam("temperature");
         HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
+        Assert.notNull(temperature,()->new AppException(ResultCode.INVALID_PARAMETER));
+        Assert.checkBetween(temperature,0,200,()->new AppException(ResultCode.INVALID_PARAMETER));
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand=switch (heatModuleCode) {
                 case heat_module_01 ->   DeviceCommandGenerator.heatRod1Open(temperature);
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java
index f579562..6c0d011 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java
@@ -36,12 +36,14 @@ public class DebugLiquidPumpAddCommand extends BaseCommandHandler {
         Double speed = cmdDTO.getDoubleParam("speed");
 
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand;
             if (speed != null) {
-                deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(position);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(position);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java
index 776cdd7..a46ac45 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java
@@ -34,15 +34,15 @@ public class DebugLiquidPumpReduceCommand extends BaseCommandHandler {
         double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));
         double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
-
         return runAsync(() -> {
-            CmdDirection cmdDirection = CmdDirection.forward;
-            DeviceCommandBundle deviceCommand;
             if (speed != null) {
-                deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-position);
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                DeviceCommandBundle liquidPumpSetCommand = DeviceCommandGenerator.liquidPumpSet(speed);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidPumpSetCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
+            DeviceCommandBundle liquidPumpMoveByCommand = DeviceCommandGenerator.liquidPumpMoveBy(-position);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidPumpMoveByCommand);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java
index ed3088b..81026f8 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.debug;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
@@ -8,6 +9,8 @@ import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
 import com.iflytop.sgs.common.enums.cmd.CmdDirection;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -29,14 +32,17 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double speed = cmdDTO.getDoubleParam("speed");
         String direction = cmdDTO.getStringParam("direction");//front back 正转倒转
+        Assert.notNull(direction, ()->new AppException(ResultCode.INVALID_PARAMETER));
         CmdDirection cmdDirection = CmdDirection.valueOf(direction);
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand;
             if (speed != null) {
-                deviceCommand = DeviceCommandGenerator.liquidPumpStart(cmdDirection);
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                DeviceCommandBundle liquidPumpSetCommand = DeviceCommandGenerator.liquidPumpSet(speed);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidPumpSetCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpStart(cmdDirection);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java
index faa75bd..c26f3c0 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.debug;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
@@ -7,6 +8,8 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -27,6 +30,7 @@ public class DebugMotorXMoveToCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double position = cmdDTO.getDoubleParam("position");
+        Assert.notNull(position, ()->new AppException(ResultCode.INVALID_PARAMETER));
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java
index b253022..bd46e77 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.debug;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
@@ -7,6 +8,8 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -28,6 +31,7 @@ public class DebugMotorZMoveToCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         Double position = cmdDTO.getDoubleParam("position");
+        Assert.notNull(position, ()->new AppException(ResultCode.INVALID_PARAMETER));
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
index 53c1154..ccd9266 100644
--- a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
@@ -344,8 +344,7 @@ public class DeviceCommandGenerator {
      * 加液泵 停止
      */
     public static DeviceCommandBundle liquidPumpStop() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        return controlCmd(CmdDevice.liquid_pump, CmdAction.stop, params, "加液泵 停止");
+        return controlCmd(CmdDevice.liquid_pump, CmdAction.stop, null, "加液泵 停止");
     }
     /**
      * 加液泵 失能