347results about How to "Realize coordinated control" patented technology

The invention discloses an automotive self-adaptive cruising system with a multi-mode switching system and a control method thereof. The system is divided into three layers of control structures including a mode switching layer, an upper-layer controller and a low-layer controller; a set of automobile traveling mode comprehensively arbitrating and switching mechanism is designed in the mode switching layer and is used for picking out the ideal working mode which is most suitable for the current traveling working condition from ten control modes. The ten control modes include the constant-speed cruising mode, the steady-state automobile following mode, the front automobile approaching mode, the urgent acceleration mode, the forcible deceleration mode, the curve mode, the lane changing assisting mode, the collision avoidance mode, the doubling mode and the switching-out mode. The upper-layer controller is responsible for specifically achieving the corresponding control mode and conducting continuous handling before an expected accelerated speed is output so as to avoid sudden change of the accelerated speed; the lower-layer controller is responsible for tracking the expected accelerated speed by controlling an execution mechanism of the automobile. According to the automotive self-adaptive cruising system with the multi-mode switching system and the control method thereof, the multi-mode switching system is adopted, in this way, the automotive self-adaptive cruising system can be better adapted to a complicated traveling environment, and the acceptability of drivers is improved.

A cleaning robot for high bailding is composed of the main body, cleaning unit, control system and safety mechanism, and features that the flexible water-sealing mechanism, drive regulating system, steering regulation and compensation driving system, cleaning unit and control system are combined to reliably stay-on the wall surface and cleaning plane, curved surface, arc surface of curtain wall or ceramic tile wall. Its advantages are high cleaning effect, high recovery rate of water and continuous cleaning.

The invention relates to a micro-grid coordination control system based on multi-agent technology, pertaining to the information technology field, wherein an element agent module independently controls the operation of bottom elements in the micro-grid, realizing direct control on a distributive power source, power generation, power-reserving elements and some loads; a micro-grid agent module operates in accordance with the internal dispatching of the micro-gird and manages the agents; task division and shared resource allocation among agents are solved by communication and coordination between the micro-grid agent module and an upper grid agent module, and the upper grid agent module takes charge of the coordination and dispatching in the electric market and among agents and makes the important decisions by integrating information of the micro-grid agents. A certain amount of data communication among the agent modules are kept for better ensuring rationality for decisions made by each agent. The structure and the communication method fit the complex and flexible characteristics of micro-grid distribution. The coordination control system can promote the safe and steady operation of the micro-grid as well as the generating efficiency.

The invention relates to a WAMS (wide area measurement system) based low-frequency oscillation coordinated damping control method for a power system, and belongs to the technical field of low-frequency oscillation analysis and control of power systems. The method includes adopting a hierarchical clustering technology to perform primary region division according to power angle curves or angular velocity curves obtained after preprocessing, performing low-frequency oscillation mode identification on the system on the basis of a Prony identification algorithm, adopting a PSS (power system stabilizer) to inhibit regional oscillation modes for strong correlation generators with generated low-frequency oscillation modes belonging to regional oscillation modes, introducing wide-area signals of other regions for generators with generated low-frequency oscillation modes belonging to inter-region oscillation modes, designing a controller for a reduced mathematic model of an identification system, and solving parameters of the controller by an LMI (linear matrix inequality). By the low-frequency oscillation controller design method, in a regional and hierarchical control mode, coordinated damping control of the power system is realized.

The invention discloses a reactive-power control method of a wind power field, which is suitable for performing reactive-power coordinated control on a wind power field variable-speed constant-frequency wind power generating set and a reactive-power compensation device. The control method comprises the steps that: reactive-power requirements of the wind power field are calculated, and a correspondent allocation method is adopted according to the valid reactive-power power capacities of the reactive-power compensation device and the wind power generating set. Due to the adoption of the controlmethod, the reactive-power power adjusting capacity of the variable-speed constant-frequency wind power generating set can be adequately played, the coordinated control of multiple reactive power sources can be realized, and the oscillation situation caused by the adjustment can be avoided. When an electric power system has malfunctions, the reactive power adjustment is locked, so the system over-voltage caused by the excessive reactive power of the system after the malfunction is removed can be prevented. When the reactive power capacity of the wind power field is insufficient to maintain the voltage of an interconnected point, a prompting signal is transmitted, the active power of the wind power field is limited, and the coordination of the active power and the reactive power can be realized.

The invention relates to distributed photovoltaic power optimizers and a control method. When series connection and parallel connection of photovoltaic modules are mismatched due to factors such as partial or intermittent shielding or aging of photovoltaic arrays, the control method is more obvious in effect. The control method is characterized in that after directly attached to photovoltaic modules, the power optimizers are connected through a series connection framework, and the power optimizers in the series connection framework firstly obtain voltage signals and current signals of the photovoltaic modules connected with the power optimizers and directly perform maximum power tracking on the single module, so that the photovoltaic modules output maximum power, and results are transmitted to a central controller. The central controller receives the maximum power calculated by each optimizer, voltage and current conditions of the shielded modules are monitored, and the voltage and current output by all the modules are coordinated through calculation. The control method not only can ensure that each photovoltaic module works at an optimal working point, but also can enable setting of bus voltage to be more flexible and stable, and the system can serve as a direct-current power supply and also be used for an independent or grid-connection photovoltaic system.

The invention discloses a reactive voltage control method of a photovoltaic power station, which uses a photovoltatic power station synchronization point as a control target and reactive power as a regulating quantity. According to the reactive demand of the photovoltaic power station, a reactive power supply of the photovoltaic power station is integrally planed, the reactive output of each photovoltaic inverter and reactive compensating device in the photovoltaic power station is determined, and coordination control of the photovoltaic inverters and the reactive compensating devices in the photovoltaic power station is realized; and protection restraint conditions of the photovoltaic inverters and the reactive compensating devices are fully considered, and the photovoltaic inverters and the reactive compensating devices, which do not meet the restraint conditions, do not participate in the reactive voltage control. The control method provided by the invention can ensure that the reactive output of the photovoltaic power station synchronization point meets the system load change and inhibits the bus voltage fluctuation caused by load change, and has the function of maintaining the voltage of the photovoltaic power station synchronization point to be stable.

The invention relates to a distribution network peak load shifting distributed energy storage power distribution and coordination control method which comprises the steps that (1) the total adjusting power of distributed energy storage system peak load shifting is determined; (2) a power distribution strategy of a similar distributed energy storage system is determined; (3) power distribution strategies of a distributed mixed energy storage system at different time scales are determined; and (4) the distributed mixed energy storage system is subjected to coordination control. Distribution network peak load shifting is achieved, the peak valley difference rate meets the requirement, charging-discharging power distribution and control based on an energy-storage system real-time state are achieved, over charging and over discharging are avoided, coordination control of different kinds of energy-storage systems is achieved, and the adjusting requirements of different network distribution time scale loads are met.

The invention provides a method for controlling signals in a high-density road network during traffic peak. According to the total of traffic flows in the high-density road network, the method collects basic data about the high-density road network, which includes traffic static data, traffic dynamic data, and decision-making data from a decision maker, wherein, both the traffic static data and the decision-making data from the decision maker are classified as static data which is acquired from a static database of the high-density road network; the traffic dynamic data is classified as dynamic data which is gathered through traffic flow detection equipment; and a signal control scheme characterized by relatively long green light time length and red light time length is generated and applied to all signal intersections within the high-density road network. By controlling the total of the traffic flows within the high-density road network and realizing coordination among the intersections, the invention achieves the effects of improving the circulation efficiency of the traffic flows at all the intersections within the high-density road network during the traffic peak and reducing delays at the intersections for vehicles, thereby realizing efficient operation of the high-density road network.

The invention provides an embedded-type real-time intelligent traffic monitoring system based on video streaming technique, which mainly comprises two DSP modules, an ARM module and an FPGA logic control module. The two DSP modules perform the high-speed real-time processing of video images. The ARM module controls the operating mode of the two DSP modules and transmits an image processing result to the peripheral equipment via a peripheral interface. The FPGA logic control module supports the coordination control of the system and the cache storage of the images. The embedded-type real-time intelligent traffic monitoring system integrates the functions of the DSP, the ARM and the FPGA, has the advantages of high computing capacity, various interfaces and flexible communication mode, is applicable to various complex traffic conditions, and has wide application range.

The invention relates to a multi-motor synchronous coordination control method, which includes the following steps: acquiring the given value of torque current, acquiring exciting current and torque current feedback values, transmitting the given value of torque current, acquiring the current control quantity of each motor, controlling each motor with a pulse control signal and the like. Inverters are a master inverter and a slave inverter, the master inverter is a master motor inverter, and the slave inverter is a slave motor inverter; and master control and slave control are carried out between the inverters. By coordinatively controlling inverter control units, the method can ensure that a plurality of motors can operate in a synchronous state; a shared rotational speed loop is adopted in an algorithm to generate torque current tracked by each inverter, the value is transmitted via a CAN (Controller Area Network) bus, consequently, delay can be shortened, and thereby the coordinating performance and reliability of a system are enhanced; and the method not only ensures that the motors have the same rotational speed, but also ensures that load can be reasonably distributed between the motors.

The invention discloses an electro-hydraulic combined brake comprehensive experiment vehicle, belongs to the field of dynamic performance testing of vehicles and relates to a comprehensive testing device which can simulate multiple driving modes, cooperative control on power-assisted steering and energy recovery. The electro-hydraulic combined brake experiment vehicle mainly comprises an electricwheel (5), a hydraulic brake (6), a steering power-assisted motor (29) and a whole vehicle controller (26); a motor controller (25) is used for controlling the electric wheel (5), an ABS (anti-lock braking system) controller (10) is used for controlling the hydraulic brake (6), and an electric power-assisted steering controller (27) is used for controlling the steering power-assisted motor (29); the motor controller (25), the ABS controller (10) and the electric power-assisted steering controller (27) are integrally controlled by the whole vehicle controller (26); and an engine (1) and a central driving motor (20) are integrally controlled by the whole vehicle controller (26). The device adopts multiple modern vehicle technologies and can provide a testing platform for the deep development of vehicles.

The invention provides an integrated unmanned aerial vehicle control system based on a software bus. The system comprises a software bus-based integrated unmanned aerial vehicle control system architecture (1), a lightweight software bus communication framework (2) and a centralized software bus-based global resource management mode. Through the service-oriented system architecture, the reliability and the openness of an assembly are improved, the heterogeneity of resources are shielded, functions of the resources are packaged, and a one-stop multi-control bus control system with multiple functions integrated is designed; and a transparent data transmission mechanism is provided for a heterogeneous node, and decoupling between a user and a message protocol is realized. A multi-perspectiveglobal resource management mode for a multi-unmanned aerial vehicle system with computing resource heterogeneity and task interdependence is designed, and the real-time performance and the certainty of the control system are ensured. While the openness and the reliability of the architecture are ensured, the real-time performance of the control system and the resource utilization ratio are improved.

The embodiment of the invention relates to a complementary optimization control method among multiple hybrid energy storage devices in an energy storage system. The multiple energy storage devices are different types of energy storage devices; and the complementary optimization control method comprises the following steps: establishing dynamic and steady mathematical models for the multiple energy storage devices; establishing capacity optimization object functions on the basis of the mathematical models, and carrying out online monitoring on the charge states of the multiple energy storage devices, so as to obtain the load power shortage probability of a system; establishing optimization constraint conditions of the capacity optimization object functions according to the load power shortage probability of the system, so as to carry out optimal configuration on the capacities of various energy storage devices; and separating the load power of the energy storage system on the basis of different frequency components, and distributing the separated load power corresponding to different frequency components to the multiple energy storage devices for undertaking respectively, so as to carry out optimal configuration on the power of the energy storage devices.

The invention discloses a lane deviation control assisting method based on steering and braking extendable joint. The lane deviation control assisting method comprises the steps of after a lane deviation assisting system is started, extracting a pavement attachment coefficient Mu and an initial steering wheel corner theta0 as characteristic variables to constitute a character state S (Mu, theta0)and building an extendable set space related to the character state S (Mu, theta0); dividing the extendable set space, and according to the divided extendable set space, calculating a correlation function related to extendable joint control in different set states; according to a range field of the correlation function, dividing a control field into a non-field, an extendable field and a classicalfield. An electric steering control method is adopted in the non-field, a differential braking control method is adopted in the classical field, and a steering and braking joint control method is adopted in the extendable field; the lane deviation assisting system judges a control field according to the real-time state of the vehicle, and torque and a braking signal which are obtained in the control field according to the corresponding control method are input to a vehicular access model.

The invention discloses a wind farm reactive voltage control method. The method comprises steps of (1), measuring wind farm synchronization point voltage; (2), determining whether the wind farm synchronization point voltage meets requirements of a grid; (3), calculating system impedance; (4), calculating the reactive target value of the wind farm synchronization point; (5), determining whether all wind generation sets and all reactive power compensation devices meet preset protection restriction conditions; (6), primarily distributing the reactive target value between wind generation sets and reactive power compensation devices; (7), secondarily distributing results of the primary distribution; (8), transmitting reactive control commands to wind generation sets and reactive power compensation devices; and (9), returning to the step (1) after wind generation sets and reactive power compensation devices execute commands. The wind farm synchronization point voltage serves as a control target, the reactive power of the wind farm serves as an adjusting amount, the reactive power output of the wind farm synchronization point can meet change of system load and grid voltage requirements and the wind farm synchronization point voltage keeps stable.

The invention discloses a regional traffic signal coordination optimization control system and method. According to the system, each intersection node in a road network is set as an intersection control agent, and each intersection control agent comprises a traffic state sensing module, a traffic signal coordination optimization module, a coordination control module, an execution module and an intersection control agent. According to the scheme, the traffic efficiency is effectively improved, the average delay of vehicles is reduced, the average queuing length of the vehicles is reduced, the regional access ratio is reduced, and the use and popularization value is very high.

The invention discloses a coordination control method for a micro-grid system. The coordination control method of the micro-grid system comprises the steps of: (1) performing program initialization of a coordination control system; (2) processing a digital switching value, and carrying out information interaction with a micro-grid energy management system, a liquid crystal display module and an in-place controller; (3) processing data of obtained information; (4) judging the working condition of the micro-grid, and calling a corresponding control program module based on the type of the working condition of the micro-grid; and (5) calculating the power command value of each running device, sending a signal to each running device of the micro-grid after the safety economic index satisfying with each running device is confirmed and adjusting the running state of the system by the control program module. The coordination control method for the micro-grid system realizes coordination control on the micro-grid system, and ensures safe and steady operation of the micro-grid. By adopting the modular software design and shortening the code of each software module, the coordination control method for the micro-grid system can remove software errors to the maximum extent and therefore greatly improve reliability of the software.

The invention discloses a real-time charging optimization method for electric vehicle cluster based on clustering control, and relates to the field of real-time charging in electric vehicle cluster, which comprising the following steps of: step 1, based on a distributed layered control framework, performing a queue division on the EV cluster by taking the charging end time as a judgment amount; step 2, according to the charging characteristics of EV cluster, the queue division of EV cluster is conducted by taking the end of charging as a criterion; step 2, a real-time optimization model of charging and discharging power for EV cluster with the objective of minimizing daily load fluctuation is solved, real-time optimization of charging and discharging power of EV cluster is carried out, andsecurity constraints are checked by distribution network; step 3, on the basis of an EV cluster scheduling result, the charging and discharging costs of EV owners are considered, a power allocation model in EV cluster is solved, the optimal power allocation for charging and discharging power of a single EV in the EV cluster is obtained, so that the total output of the EV cluster is as close as possible to the scheduling result. By means of the device, EV charge and discharge distributed layered control framework is adopted, thereby realizing the real-time control of charging and discharging in EV cluster.

The invention relates to a distributed type photovoltaic energy storage system and a working method of the distributed type photovoltaic energy storage system. The output end of a photovoltaic cell array is connected with a direct-current conversion module, and the output end of the direct-current conversion module is respectively connected with a grid-connected inverter module, an off-grid inverter module and an energy storage battery pack. The input end of a rectification conversion module is connected with a power grid, and the output end of the rectification conversion module is connected with the energy storage battery pack. The input end of the grid-connected inverter module is connected with the output end of the direct-current conversion module, and the output end of the grid-connected inverter module is connected with the power grid. The output end of the direct-current conversion module and the output end of the energy storage battery pack are connected with the input end of the off-grid inverter module, and the output end of the off-grid inverter module is connected with a load. An energy management system is respectively connected with each module to reasonably control, manage and distribute energy. The use ratio of solar energy is improved to the maximum degree, the distributed type photovoltaic energy storage system and the working method of the distributed type photovoltaic energy storage system are suitable for a photovoltaic grid-connected power generation system or a photovoltaic off-grid power generation system of an intermediate-low power grade, photovoltaic power generation and an energy storage technology are fully combined, intelligent control of photovoltaic power generation and energy storage is achieved, the power generating efficiency of the system is effectively improved, and losses are reduced.

The invention provides group control device and method for a multi-robot welding system. The device mainly comprises a positioning machine, a PLC electric cabinet, a plurality of welding robots, a welding machine and other parts; the system in on the basis of a communication model of a CC-LINK field bus, the PLC is treated as a working main station, all robots are equipped with CC-LINK communication cards to be used as secondary stations, and the main station and the secondary stations are equipped with detailed control signal sheets for realizing main-secondary information sharing and real-time feedback; in case of a specific complex component, the working area of each robot can be reasonably divided, the quantity of robots for welding can be flexibly selected, a touch screen is operated for human-computer interaction, and therefore, the states and parameter settings of each robot, welding machine, positioning machine and other devices can be monitored conveniently, and as a result, the whole system can be simply, safely, flexibly and efficiently controlled.

The invention discloses a space robot active-disturbance-rejection coordination control method based on expansion state observation and compensation, and belongs to the field of spacecraft attitude control. The method compensates the base disturbance torque through an expansion state observer to realize the coordination control of a space robot through an active-disturbance-rejection control technology. From a dynamics angle of the space robot, no matter a redundancy condition or a non-redundancy condition of a mechanical arm, the coordination control of a star arm can be realized; meanwhile, a base attitude controller of the space robot is singly designed for relieving the operation load of a spaceborne computer; aiming at the condition of existing various disturbance torques (solar radiation pressure, gravity gradient torque and the like) in space, the active-disturbance-rejection coordination control method enables a system to achieve a certain robustness. The control method can satisfy such task demands as keeping of smooth communication to the ground and pointing of a solar sailboard in the working process of the space robot.

The invention discloses an intelligent controller for a split phase type quick permanent magnet vacuum circuit breaker and belongs to the technical field of intelligent low-voltage apparatus. The intelligent controller comprises a micro processor unit, a power supply unit, a coil control and drive unit, and a detection and display unit. The coil control and drive unit comprises a permanent magnetic mechanism brake closing and separating capacitor charging circuit, an electromagnetic repulsive force mechanism brake closing and separating capacitor charging circuit, a permanent magnetic mechanism brake closing and separating coil control circuit, an electromagnetic repulsive force mechanism brake opening and closing coil control circuit and a switching tube drive and protection circuit. Due to the introduction of the intelligent controller, the coordination and control of coil current of an electromagnetic repulsive force mechanism and a permanent magnetic mechanism can be realized, the permanent magnet vacuum circuit breaker can be accurately and intelligently regulated and controlled, and the phase selection operation of the permanent magnet vacuum circuit breaker can be realized.

The invention discloses a separated left turn lane design and related intersection channelization, signal phase and timing setting method. The method comprises the following steps: step 1, a separated left turn lane selection is adopted in the intersection; step 2, the separated left turn lane is designed; step 3, channelization and signal timing design are carried out on an upstream intersection; and step 4, channelization and signal phase design are carried out on a target intersection. The separated left turn lane design method can improve the passing efficiency at the intersection; compared with the traditional lane design method, the upstream intersection can be used for eliminating conflict between left turn traffic at the target intersection and reverse straight traffic, no new signal lamps need to be added, and the method can be flexibly applied to one or more lanes.

The invention discloses a coordination control system and a method for an electric vehicle service network based on a Multi-Agent system. The coordination control system comprises four layers including a provincial Agent layer, a prefectural Agent layer, a regional Agent layer and a terminal Agent layer, wherein the provincial Agent layer is connected with the prefectural Agent layer; the prefectural Agent layer is connected with the regional Agent layer; and the regional Agent layer is connected with the terminal Agent layer. The system can monitor the key operation parameters of an electric vehicle, a power cell, a charging pile, a charging and discharging power station and the like in real time, so that the unified management specification is established. According to the invention, the coordination control for the electric vehicle service network is achieved within an extensive range, so that effective interaction of the vehicle, the station and the network is achieved, safe and economical operation of a power grid is ensured, and the utilization rate of regenerative energy resources is improved.

The invention discloses a method for coordination control over satellite arms of a space robot based on an expanded Jacobian matrix. The method achieves integrated coordination control over a space manipulator operating in orbit and a base satellite. The method comprises the steps of computing kinetic parameters and dynamic parameters of the space robot, establishing a mathematical model of the space motor based on the expanded Jacobian matrix, designing a coordination controller of the satellite arms of the space robot, conducting parameterization on the trajectory of the tail end of the manipulator, optimizing the trajectory of the manipulator, and computing an angular velocity instruction of a single gimbal control moment gyro system of the space robot. According to the method, hysteretic feedback control conducted by a satellite according to attitude measurement is not needed, overall mathematical modeling is conducted on the coupled motion of the satellite arms, the angular velocity instruction of the single gimbal control moment gyro system is directly computed according to the input trajectory of the tail end of the manipulator, the single gimbal control moment gyro system is used for compensation, needed by the satellite, for manipulator motion, and then overall coordination control over the satellite arms is realized; the trajectory of the tail end of the manipulator is optimized, so that the energy consumed by a satellite state control system for compensating for the restoring torque of the manipulator is small.

The invention provides an island micro-grid distributed cooperative control method based on a hierarchical control strategy. The method comprises the steps of firstly constructing a hierarchical control structure into two structures of a local control hierarchy and a network control hierarchy; secondly, studying P-U / Q-omega droop control, wherein the P-U / Q-omega droop control is used as primary control of all distributed power sources and angular frequencies; then, introducing a communication network composed of all distributed power sources in a micro-grid in combination with a graph theory and a multi-intelligent-body theory; on the basis of the communication network, designing a novel Virtual leader-following consistency protocol which considers a time delay problem and using the protocol to complete secondary control of all the distributed power source voltages and the angle frequencies; finally, achieving reasonable distribution of active power by designing a current controller. According to the island micro-grid distributed cooperative control method based on the hierarchical control strategy, it is ensured that the distributed power source voltages and the angle frequenciesobtain a reliable control effect, and the effect that the active power is reasonably distributed according to the rated capacities of the distributed power sources is achieved.

The invention relates to a cooperative control method that distributed energy storage participates in automatic generation control (AGC). The cooperative control method comprises the steps of: (1), establishing a cluster energy balance feedback control structure based on the SOC of a BESS cluster, and providing two base power calculation methods based on the average equivalent SOC; and (2), establishing a BESS service cost model for charging and discharging loss and battery ageing, and providing a distributed control method, which does not need to be iterated, based on a market mechanism, so that real-time optimal distribution of a control target in the BESS cluster is realized. Compared with the prior art, the distributed BESS is aggregated to participate in the AGC of a power grid; therefore, the system frequency quality can be effectively increased; and in addition, energy storage users can have relatively high earnings by providing a rapid AGC service.