107results about How to "Increase dynamics" patented technology

The invention discloses an aero-engine control system and method based on self-adaptive specified interference cancellation, and belongs to the field of aero-engine control. A disturbance affine form nonlinear mathematical model of an aero-engine is obtained through system identification, a fixed-time disturbance observer is designed to estimate the lumped interference of the system in real time, and the disturbance of the aero-engine is estimated in real time; and a self-adaptive specified interference elimination composite controller is constructed based on a nonlinear backstepping method and a dynamic inverse method, so that accurate control on the rotating speed of the engine is realized. The system adjusts the control quantity in real time based on a backstepping method and a dynamic inverse method, and the controller adopts a non-smooth instruction filter and a self-adaptive dynamic weight distribution mechanism, so that the uncertainty of the system is effectively compensated. The method can effectively cope with uncertainty caused by system parameter perturbation, unmodeled dynamics and external load fluctuation, gives consideration to dynamic and static performance, has high control precision, good anti-interference capability and closed-loop stability, and is suitable for aeroengine rotating speed control under complex working conditions.

The invention discloses an inverter control method, device and system based on a neural network predictor, and the method comprises the steps: building an over-limit equation according to the three-phase network side voltage and three-phase network side current of an inverter, and determining a current function according to the over-limit equation; predicting the current function based on a neural network predictor to obtain a reference voltage vector corresponding to the current function; establishing an evaluation function about the three-phase network side current, determining the position of a reference voltage vector in the voltage vector subarea, traversing a plurality of to-be-selected voltage vectors in the voltage vector subarea where the reference voltage vector is located, and obtaining the reference voltage vector when the evaluation function is at the minimum value as a candidate item; and traversing all the control inputs of the inverter, obtaining the control input when the evaluation function is at the minimum value, taking the control input as the optimal selection for controlling the inverter, and adjusting the switch of the inverter. The robustness of the system can be improved while the excellent dynamic performance of the system is maintained.

The invention discloses a big language model tool matching method and system based on a knowledge graph, belongs to the technical field of artificial intelligence, and solves the problem that an API (Application Program Interface) tool is difficult to efficiently manage and accurately select in a real-time information processing process of an existing big language model. According to the method, a multi-source data fusion technology is introduced to collect and sort information of external API tools of different data sources, and a dynamic relation weight adjustment mechanism is utilized to dynamically adjust the weight of the relation between different API nodes according to the actual use condition of the API tools and user feedback; representing the characteristics of each API node through a graph embedding technology based on an intelligent matching algorithm of deep learning, and calculating the matching degree of each candidate API and a request by using a sequence processing model; according to the method, the knowledge graph and the intelligent matching algorithm are combined, an external API tool used by a large language model can be dynamically managed and optimized, and the information processing accuracy and the system response speed are improved.

The invention provides a magneto-rheological brake integrating a shearing working mode and a shearing valve working mode. The magneto-rheological brake comprises a mounting sleeve set, a braking structure and a driven structure. The driven structure comprises a first driven ring, a second driven ring and a reel, the first driven ring and the second driven ring are both connected with the reel, and a magnet exciting coil is wound on the reel; the brake structure comprises a rotating shaft and a brake disc, the brake disc is arranged on the rotating shaft in a sleeving mode, and the brake disc is connected with the reel through a cylindrical cam structure; axial damping gaps are reserved between the two opposite side walls of the first driven ring and the two opposite side walls of the second driven ring and the two opposite side walls of the installation sleeve set respectively. Radial damping gaps are reserved between the two opposite side walls of the brake disc and the two opposite side walls of the installation sleeve set respectively. According to the invention, on the premise of not changing the structural size, a higher torque volume ratio can be provided, and the application is beneficial for meeting the occasion that the installation space is small and the larger output torque can be provided.

The invention discloses a sensorless model prediction speed control method for an induction motor, and the method comprises the steps: carrying out the modeling of a mathematical model of the induction motor based on a two-phase static coordinate system, and obtaining a mathematical model of the induction motor; constructing a full-order observer, and obtaining an estimated value of the rotating speed of the rotor of the induction motor and an estimated value of the flux linkage through the full-order observer; parameter identification of stator resistance is introduced into a motor rotating speed estimation and model prediction module; establishing a prediction model, predicting the stator flux linkage and the rotating speed at the k + 1 moment, and obtaining a stator flux linkage prediction value and a rotating speed prediction value; and finally, constructing a reduced order load torque observer, carrying out feedforward compensation on a speed outer ring of the control system, and improving the dynamic response of the system. According to the invention, the problem in the prior art that the system performance is reduced and even the system crashes due to sensor faults is solved.

The invention relates to a power electronic technology and an energy storage technology, and aims to provide a multi-machine parallel grid-connected coordination control method for a voltage source type medium-voltage energy storage system. Comprising the following steps: adding virtual impedance into an original line based on a virtual impedance method, and keeping the total line impedance between each battery energy storage system and a grid-connected point to be the same; adding a self-adaptive damping module in an active frequency link according to a self-adaptive damping parameter method, and calculating an average value of output power of each virtual synchronous machine; and obtaining a new frequency reference value of an active-frequency loop through adaptive damping calculation, substituting the new frequency reference value into subsequent voltage and current double-loop control, and realizing suppression of active power oscillation in combination with treatment of virtual impedance. According to the method, the difference between the hardware parameters and the software parameters of the multi-machine parallel system is comprehensively considered, and compensation is performed by using the virtual impedance method to reduce the active oscillation problem caused by the line parameter difference; the dynamic process is improved through a self-adaptive damping method, active power oscillation can be suppressed, and the system operation stability is improved.

The invention relates to a PMSM control method based on a BP neural network and a superspiral sliding mode. Comprising the following steps: (1) constructing a mathematical model of a permanent magnet synchronous motor (PMSM); (2) on the basis of the mathematical model in the step (1), constructing a BP neural network PI controller which takes an expected value omega *, an actual value omega and an error e as inputs, takes a proportionality coefficient Kp and an integral coefficient Ki of the PI controller as outputs, and contains seven nodes in a hidden layer; the rotating speed ring continuously updates the weight value through the BP neural network so as to adjust the values of Kp and Ki in real time; (3) based on the mathematical model in the step (1), constructing an STA current loop controller for super-spiral sliding mode and feedforward decoupling control; and (4) PMSM control is realized based on the BP neural network PI controller in the step (2) and the STA current loop controller established in the step (3). The method has smaller overshoot and anti-interference capability, and has very positive significance for improving the control performance of the permanent magnet synchronous motor.

The invention belongs to the technical field of polyurethane elastomers, and discloses a high-strength room-temperature self-repairing lignin / polyurethane composite elastomer as well as a preparation method and application thereof. The preparation method comprises the following steps: firstly, gradually polymerizing long-chain dihydric alcohol, irregular isocyanate, a hydrazide chain extender and a dioxime chain extender to obtain a polyurethane matrix with multiple dynamic bonds, and then introducing high-rigidity lignin and metal ions to prepare the lignin-reinforced polyurethane composite elastomer. The lignin / polyurethane composite elastomer prepared by the invention has the characteristics of good compatibility, high strength, room-temperature self-repairing and repeatable hot working, and overcomes the problems that a common lignin-based polyurethane elastomer is poor in compatibility, and the high strength and low-temperature self-repairing cannot be realized at the same time.

The invention relates to the technical field of grid-connected inverter networking synchronization control, and relates to a networking inverter adaptive synchronization control method considering dynamic performance and stability. The method comprises the following steps: firstly, injecting a harmonic signal with a specific frequency into a power grid from an inverter side, acquiring a voltage and current signal corresponding to the harmonic signal with the specific frequency at a grid-connected point, and calculating to obtain power grid side impedance; then, converting a grid-connected inverter adaptive control optimization problem into a Markov decision process based on the power grid side impedance; and finally, substituting the Markov decision process into a reinforcement learning algorithm framework for reverse training to obtain an optimal control law of the grid-connected inverter based on hybrid synchronous control, and controlling the grid-forming inverter based on the optimal control law. The invention provides the self-adaptive synchronous control method for the grid-forming inverter, which gives consideration to the dynamic performance and the stability, so that an inverter grid-connected system can operate stably, has enough stability margin and also has good dynamic performance.

The invention discloses an electric energy metering method and device based on harmonic self-adaptive observation and zero point tracking type SOGI-FLL. The electric energy metering method comprises the following steps: step 1, carrying out ADC sampling on voltage and current signals of a power grid; 2, performing frequency rapid estimation on the voltage signal based on a zero point tracking frequency-locked loop, and obtaining a fundamental wave angular frequency of a power grid in real time; step 3, constructing adaptive observers of voltage and current by using the fundamental wave angular frequency, and estimating parameters of fundamental waves, harmonic waves and direct current components in voltage and current signals in real time through an adaptive law based on Lyapunov stability; 4, according to the parameter estimation value, the amplitude and phase of the voltage and current are calculated; and step 5, calculating active power and reactive power of each harmonic based on the voltage and current amplitudes and phases obtained in the step 4, and summing to obtain total active power and total reactive power so as to realize metering of active electric energy and reactive electric energy. According to the invention, rapid and accurate metering of fundamental wave and harmonic wave electric energy under complex working conditions is realized.

The invention belongs to the field of coal-fired power generation, and particularly relates to a heat supply and power generation system for improving the flexibility of a thermoelectric load by coupling molten salt heat storage and an operation method, the system is additionally provided with a heat supply network heating system on the basis of a conventional coal-fired power generation system, and is coupled with an innovative heat storage system adopting a collaborative heat storage and collaborative heat release structure. When the power supply load of the coupling heat supply power generation system is reduced, reheated steam and redundant electric power which is not connected to the network are used for heating molten salt for collaborative heat storage, meanwhile, reheated cold section extraction steam is used for supplying heat to a heat supply network, the load reduction rate is increased, the downward peak regulation depth of the coupling heat supply power generation system can be effectively reduced, and the power supply efficiency is improved. And zero power output of the power generation system can be realized under the condition that the boiler maintains the lowest operation load. The thermoelectric load characteristic interval range of the coupling heat supply power generation system is remarkably expanded, the variable load rate of the coupling heat supply power generation system is improved, and the heat supply and power supply flexibility of the coupling heat supply power generation system is improved.

The invention discloses an unpowered returning-field aircraft spoiler speed control method based on active disturbance rejection control, belongs to the technical field of unmanned aerial vehicle flight control, and aims to solve the problem that high-precision speed control is difficult to realize due to insufficient robustness when a traditional spoiler control strategy faces a complex and changeable environment and unknown disturbance. According to the method, the expansion state observer introducing active disturbance rejection control is adopted, unmodeled dynamics and external disturbance in the system are estimated on line and compensated in real time, the speed deviation is responded in a short time, the adaptive capacity to unknown disturbance is remarkably improved in unpowered return field section spoiler speed control, and the speed control accuracy of the spoiler is improved. According to the method, the dependence on an accurate model is reduced, higher-precision and more robust speed control is realized, and an effective technical means is provided for safe, stable and accurate landing of unmanned aerial vehicles and other unpowered landing aircrafts.

The invention discloses an alkaline and proton exchange membrane composite electrolytic cell based on renewable power, which comprises a renewable power supply module, an alkaline electrolytic cell, a PEM (Proton Exchange Membrane) reversible fuel cell and an intelligent controller, the output end of the direct-current bus device is connected in parallel with an alkaline electrolytic cell, a PEM reversible fuel cell and a power grid; and the intelligent controller controls the working modes of the alkaline electrolytic cell and the PEM reversible fuel cell according to the direct current bus device power signal and the power grid power demand signal, wherein the working modes comprise an alkaline electrolytic cell electrolysis mode, a PEM electric pile electrolysis mode and a PEM electric pile power generation mode. Based on the combined application of the multiple electrolytic cells, the operation range of the composite electrolytic cell system can be widened, the combined stable operation of the alkaline electrolytic cell and the PEM reversible fuel cell is realized, and the hydrogen production efficiency of the composite electrolytic cell system is improved while the stable operation of a power grid is facilitated.

The invention discloses a rotating speed control method of a permanent magnet synchronous motor. The method comprises the following steps: firstly, designing an adaptive switching expansion state observer of the permanent magnet synchronous motor, and adding the adaptive switching expansion state observer into a rotating speed loop control process; and then inputting the rotating speed of the permanent magnet synchronous motor and a q-axis current reference value output by a rotating speed ring into an extended state observer, performing adaptive parameter switching control at the same time, and outputting the rotating speed and an observed value of lumped disturbance after processing so as to continue to perform rotating speed ring control and realize rotating speed control of the permanent magnet synchronous motor. The method can improve the dynamic and steady state performance of the permanent magnet synchronous motor under inertia mismatch, weaken the overshoot of the motor in the dynamic process, greatly accelerate the response speed, reduce the rotation speed fluctuation and oscillation in the adjustment process, reduce the dependence of the parameter design of a motor control system on the rotational inertia parameter, and improve the stability of the motor control system. And meanwhile, the estimation capability of rapid change lumped disturbance is enhanced, and more complex lumped disturbance types can be dealt with.

The invention relates to a model prediction fault-tolerant control method and system for a dual three-phase permanent magnet synchronous motor, and the method comprises the steps: estimating the lumped disturbance in the operation process of the motor in real time based on an extended state observer, and carrying out the feed-forward compensation of the reference voltage of the motor according to the lumped disturbance information; and based on the compensated voltage reference value, constructing a dynamic voltage vector set and correcting an initial voltage vector set, searching an optimal voltage vector in the dynamic voltage vector set, and driving the motor through three-phase decoupling space vector pulse width modulation. According to the field loss fault-tolerant control strategy designed by the invention, phase current harmonics caused by local field loss faults of the dual three-phase permanent magnet synchronous motor can be effectively suppressed, and the steady-state precision and the dynamic response capability of the system under the local field loss faults are enhanced.

The invention discloses a three-phase electrode current preset time intelligent loop control method for an electric smelting furnace for magnesia, which specifically comprises the following steps: 1) selecting the electric smelting furnace for magnesia as a research object and analyzing the characteristics of equipment, and taking the electric smelting furnace as a representative as the production index of the smelting process of major energy-consuming equipment in the smelting process, namely the electric energy consumed by each ton of qualified products, namely the unit energy consumption; (2) controlled objects of a control system of the electrical smelting furnace for magnesium comprise unit energy consumption of the electrical smelting furnace for magnesium and three-phase electrode current of the electrical smelting furnace for magnesium, the controlled quantity is the rotating speed and direction of a three-phase dragging motor of the electrical smelting furnace for magnesium, and the unit energy consumption of a product is directly influenced by the magnitude and the stability degree of the three-phase electrode current value in the smelting process; and (3) analyzing the relationship between the three-phase electrode current of the electric smelting magnesium furnace and the rotating speed of the three-phase dragging motor, and calculating the rotating speed of the three-phase dragging motor according to the deviation between the actual three-phase electrode current value and the three-phase electrode current set value under the heating and melting working condition. A preset time consistency control algorithm based on self-adjusting gain is adopted to obtain the rotating speed and direction of the three-phase dragging motor under the heating and melting working condition; and (4) adjusting parameters of the preset time consistency control scheme in the step (3), performing preset time algorithm verification, and performing corresponding comparison with a PID algorithm of a traditional control method.

The invention discloses a shopping webpage design platform and method based on big data acquisition, and belongs to the technical field of internet big data, the platform comprises a data acquisition module, a data storage module, a data processing and analysis module and an information generation module, and the method comprises the steps of data acquisition; storing and processing data; feature extraction and analysis; and generating design information. According to the method, the preference and the behavior mode of the user can be comprehensively understood, so that commodities which better meet personalized requirements of the user can be recommended to the user.

This invention belongs to the field of polyurethane elastomer technology and discloses a high-strength, room-temperature self-healing lignin / polyurethane composite elastomer, its preparation method, and its applications. The preparation method includes the following steps: First, a long-chain diol, irregular isocyanate, hydrazine chain extender, and dioxime chain extender are progressively polymerized to obtain a polyurethane matrix with multiple dynamic bonds. Then, high-rigidity lignin and metal ions are introduced to prepare a lignin-reinforced polyurethane composite elastomer. The lignin / polyurethane composite elastomer prepared by this invention exhibits good compatibility, high strength, room-temperature self-healing, and repeatable heat processing characteristics, overcoming the problems of poor compatibility and the inability to simultaneously achieve high strength and low-temperature self-healing in general lignin-based polyurethane elastomers.

The utility model relates to the technical field of plunger packing, in particular to a high-temperature-resistant, high-pressure-resistant and wear-resistant plunger packing arc-shaped seal made of polyurethane, which comprises an arc-shaped seal assembly, the arc-shaped seal assembly comprises an arc-shaped packing and a V-shaped packing, a connecting strip is fixedly connected on the outer wall of the arc-shaped packing and close to the position of the V-shaped packing, and the arc-shaped packing and the V-shaped packing are connected through the connecting strip. A connecting groove is formed in the position, corresponding to the connecting strip, of the outer wall of the V-shaped packing, and a high-temperature-resistant, high-pressure-resistant and wear-resistant plunger packing arc-shaped seal made of polyurethane is designed, so that the sealing performance is improved through an arc-shaped seal assembly in the device; the problems that an existing plunger packing arc-shaped seal made of a hydrogenated nitrile rubber material cannot effectively prevent sand-carrying fluid from penetrating and entering under the working condition of a high-pressure and high-temperature complex medium, sand inclusion is caused, a plunger and the seal are strained, and the service life is shortened are solved.

The utility model discloses a kind of floating mechanism suitable for robot clamp application, including robot side flange, balance module is installed on the robot side flange, balance module is installed with floating module, air cylinder is installed on the two sides of floating module, floating module is installed with gripper side flange, the utility model relates to robot clamp technical field.Response speed is extremely fast, dynamic performance is excellent, control precision is high, can realize micron level regulation, compact structure, flexible arrangement, force output linearity is good, easy to digital control.

The utility model relates to a sliding connection structure for linear motion of a machine tool spindle, which comprises a sliding body, a transverse bottom plate and a guide rail pair, the spindle is mounted in the sliding body, and the sliding body is connected with the transverse bottom plate through the guide rail pair; two mutually vertical side surfaces of the sliding body are respectively connected with the guide rail pair; the transverse bottom plate is of an L-shaped structure, and the two inner side faces perpendicular to each other are connected with the guide rail pairs respectively. The L-shaped sliding connection structure is adopted, and the supporting guide rails are arranged on the two side faces, perpendicular to each other, of the sliding body respectively, so that the connection rigidity and the dynamic performance are greatly improved.

The invention provides a model prediction PI control method for improving the dynamic performance of a converter. Comprising the following steps: detecting actual voltage V1 of a bus side; battery side actual voltage V2 and current reference instruction value Iref are input into a PI controller of a prediction model to calculate and obtain an initial out-shift phase angle # imgabs0 # in a control beat, the difference between the current instruction Iref and actually detected battery charging and discharging current Ibat is obtained to obtain a current error signal ei, and the current error signal ei is input into a PI controller Gic to obtain an out-shift phase angle increment # imgabs1 # initial out-shift phase angle in the control beat. Summing the # imgabs2 # and the external phase shift angle increment # imgabs3 # to obtain an actually output external phase shift angle # imgabs4 #; judging the working mode of the dual phase shift DAB converter at the moment according to the external phase shift angle # imgabs5 #, the actual voltage V1 and the battery side actual voltage V2 value; and an inner phase shift angle # imgabs6 # DPWM pulse generation module in a corresponding working mode is output to generate a driving pulse signal to control the charging and discharging current Ibat of the battery to quickly follow and respond to a current reference instruction value Iref issued.

The invention discloses a composite tire and a manufacturing method thereof. The method comprises surface pretreatment of a tire carcass, configuration of a tread treatment agent, and casting and molding the composite tire tread using a unique process. The method has the characteristics of simple manufacturing process and low cost. The manufactured composite tire has a series of outstanding advantages such as good elasticity, low rolling resistance, low fuel consumption, good tread wear resistance, etc., has high cost performance, and is easy to industrialize.

The invention discloses a permanent magnet synchronous motor double-vector model predictive control method which is completely different from traditional double-vector predictive control, after a first voltage vector is selected, a generated predictive error is used for selecting a second voltage vector, and therefore the accuracy of model prediction is improved. Compared with traditional permanent magnet synchronous motor double-vector model predictive control, the method has smaller steady-state torque ripple and current harmonic.

The application discloses a resonant converter control method and device based on threshold voltage control, and the method comprises the following steps: comparing an input voltage with a primary side equivalent voltage to determine whether the resonant converter is currently working in a boost mode or a buck mode; determining threshold voltages of a resonant capacitor in the boost mode and the buck mode; comparing the threshold voltages with collected resonant capacitor voltages to determine switching signals of an inverter circuit; and the threshold voltages of the resonant capacitor in the boost mode and the buck mode are calculated based on P-stage cosine response parameters and N-stage cosine response parameters of the resonant capacitor voltages. By using the above technical scheme, the resonant converter has strong voltage ripple suppression capability, effectively suppresses secondary harmonic voltage ripples from a previous stage, and the control signals are directly determined by input and output states, thereby having excellent dynamic performance.

The invention relates to a large dynamic RCS measuring system and method, and relates to the field of signal measurement, the large dynamic RCS measuring system comprises a signal generating end and a signal receiving end, the signal generating end comprises a signal source, a directional coupler connected with the signal source through a microwave cable, and a transmitting antenna and a reference receiver which are respectively connected with the directional coupler; the signal receiving end comprises a receiving antenna and a shunt connected with the receiving antenna through a microwave cable, the shunt is divided into multiple paths of microwave cables, one path and the first test receiver form a first receiving branch, and the other path, the attenuator and the second test receiver form a second receiving branch; the method has the advantages that the problem of data measurement distortion caused by the fact that signals in individual orientations of the measured target exceed the receiving upper / lower dynamic state of a measurement system due to the fact that the RCS difference of the large full-size measured target in different incidence orientations is huge in the past is solved.

The invention discloses a BPA-PC degradation method and application of the BPA-PC degradation method in preparation of epoxy thermosetting resin, and belongs to the technical field of polymer composite material depolymerization and recycling. According to the method, degradation of BPA-PC and synthesis of epoxy thermosetting resin are coupled, efficient upgrading and recycling of BPA-PC plastic are achieved, and a new way is developed for chemical recycling of waste plastic. According to the invention, diphenyl carbonate is used as a depolymerization reagent to realize depolymerization of BPA-PC, and the obtained depolymerization product is directly used as a curing agent of epoxy resin without separation and purification to prepare high-performance and recoverable epoxy thermosetting resin. The process does not involve excessive reaction reagents, and a depolymerization product can be directly reused, so that 100% of atom utilization rate is realized. In addition, the prepared epoxy thermosetting resin has good comprehensive performance such as mechanical performance, thermal performance and dynamic performance, meanwhile, carbonic ester bonds are reserved in the structure of the epoxy thermosetting resin, and chemical circulation can be achieved.

The invention provides a mechanical arm self-adaptive grading grabbing control method and system based on visual feedback, and belongs to the technical field of robot control. The method comprises the steps that target position information is obtained through a visual sensor, and contact state information of the tail end of a mechanical arm and a target is obtained through a force sensor; according to the target position information and the contact state information, the current control stage of the mechanical arm is judged, and the control stage comprises the vision dominant stage that the mechanical arm approaches the target but does not make contact with the target, the force dominant stage that the mechanical arm grabs the target and the transition stage from the vision dominant stage to the force dominant stage; generating a first control component and a second control component based on the target position information, and generating a third control component based on the contact state information; according to the current control stage of the mechanical arm, the weights of the first control component, the second control component and the third control component are dynamically distributed and fused to generate a comprehensive control instruction; and the mechanical arm is driven to grab the target according to the comprehensive control instruction, and jumping of the control instruction is avoided.

The invention discloses a micro-grid control method and device based on variable virtual inertia and damping, a medium and a product, and relates to the technical field of micro-grid distributed photovoltaic coordination stability control systems. Simulating dynamic characteristics of the synchronous generator by introducing virtual inertia and a damping coefficient; performing adaptive adjustment on virtual inertia and a damping coefficient in the virtual synchronous machine model by using the small signal model; modeling the micro-grid based on the virtual synchronous machine model to obtain a micro-grid model; the micro-grid model comprises a photovoltaic array model, an energy storage device model and a virtual synchronous machine model; and based on the micro-grid model, determining control parameters of the micro-grid by using a primary function network algorithm. According to the method, the rationality of micro-grid control is improved by adjusting the virtual inertia and the damping coefficient.

The present invention is a spherical metamorphic robot and an environmental information monitoring system based on the robot. The robot includes a control unit, a spherical shell and a plurality of telescopic feet evenly distributed on the spherical shell. The axes of all the telescopic feet intersect at the center of the spherical shell. The telescopic feet can be extended and retracted along the radial direction of the spherical shell. All the telescopic feet can be completely wrapped in the spherical shell or extend out of the spherical shell. The system includes a self-organizing network communication module, an environmental information collection component, a host computer, a positioning module and a plurality of metamorphic robots; the plurality of metamorphic robots are arranged at various positions in the area to be detected, and each metamorphic robot is equipped with a self-organizing network communication module, a positioning module and an environmental information collection component; the self-organizing network communication module communicates with the host computer, and the self-organizing network communication module on each robot can communicate bidirectionally with the self-organizing network communication modules on the other robots. The environmental information monitoring system has three modes to realize all-weather, all-round and fully autonomous intelligent dynamic monitoring.