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

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 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 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 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 discloses a compliant and coordinated control method for the in-orbit capturing process of a space robot. The compliant and coordinated control method includes the steps that a space robot model oriented to control is established according to dynamics and kinematics equations; a mechanical arm compliant capturing control rule is established according to the space robot model oriented to control; a base posture control rule based on a base gas spraying device is determined; a mechanical arm compliant control loop is established according to the mechanical arm compliant capturing control rule; a base posture control loop is established according to the base posture control rule and a PSR pulse modulator; the control amounts calculated by the mechanical arm compliant control loop and the base posture control loop serve as the control input of a mechanical arm of a space robot system and the control input of the base gas spraying device of the space robot system correspondingly; and meanwhile control force of the base serves as a feed-forward item and is input into the mechanical arm control rule to offset the interference of base control to mechanical arm tail end compliant control. By means of the compliant and coordinated control method, stability of the base is ensured while a target is stably captured.

The invention discloses an artery coordination signal control method based on dynamic O-D matrix estimation. According to the method, road segment flow of the detecting of import approaches and export approaches of crossings of an artery is adopted, dynamic O-D matrixes of crossings are estimated by the adoption of a Kalman filtering and a back propagation neural network algorithm, a Bayes combination method is designed to improve accuracy and stability of the estimated result, a single-crossing multi-target signal control model is built on the basis of the estimated result, and the calculated maximum of crossing signal cycles is served as a public cycle of the artery. The artery coordination signal control method that the maximum of the obstructing-free rate of artery vehicles serves as the target function is further designed, the green split of all crossing artery directions and the phase difference of the adjacent crossings are acquired through solving, and an artery coordination signal control scheme is formed. The artery coordination signal control method based on dynamic O-D matrix estimation has the advantages that on the premise of guaranteeing the optimizing passing of the artery vehicles, the passing efficiency of all the single crossings is balanced, the problem that the control scheme can not be adjusted timely according to the traffic flow in the prior art is solved, advantages of being high in accuracy, online in application and the like are achieved.

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 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 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 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.