1438 results about "Control effect" patented technology

The invention relates to the technical field of audio and video control, and discloses an audio and video player control method based on a voice instruction. The method comprises the steps that an original voice instruction stream of a user is collected, the instruction stream comprises a time domain audio signal sequence, an environment noise spectrum and user pronunciation characteristic parameters, and voice information can be comprehensively captured; multi-modal instruction analysis processing is carried out on the original voice instruction stream, a structured control instruction set containing acoustic control intention identification, semantic operation object description and context correlation parameters is generated, and the analysis precision is improved; then executing player state adaptation based on the set, generating a dynamic control response sequence containing an equipment state adjustment command, a media content positioning parameter and an interface interaction logic identifier, driving a player to execute a multi-dimensional control operation and generating real-time play control effect feedback data; and finally, multi-modal analysis parameters are optimized according to feedback data, a self-adaptive instruction analysis strategy is generated, and the control experience of a user on the audio and video player is optimized.

The invention discloses a gradient optimization control method for an aeration system of a sewage plant. The gradient optimization control method comprises the following steps: S1, acquiring key monitoring multi-source data of the aeration system of the sewage plant in real time through an online sensor; s2, setting a security threshold value of each monitoring data to form a security constraint condition; s3, taking unit nitrogen removal energy consumption minimization as an optimization target, and constructing a comprehensive loss function fusing an energy consumption item and a water quality deviation item; s4, iteratively updating the air volume of the aeration system by adopting a self-adaptive gradient algorithm; s5, the optimized and updated air volume is issued to the aeration equipment to be executed, and water quality data and energy consumption data after execution are collected in real time, a control effect is calculated, an award signal is generated, and the award signal serves as feedback to be input into an optimization module; and S6, dynamically adjusting key parameters including the learning rate and the gradient threshold according to a feedback result. According to the invention, the energy consumption can be effectively reduced and the control precision can be improved while ensuring that the effluent stably reaches the standard, and the stable operation of the aeration system of the sewage plant under a complex working condition is ensured.

The invention discloses a fishery pond water temperature control optimization method based on a swarm intelligence algorithm, and belongs to the technical field of control optimization, and the method comprises the following steps: S1, constructing a fishery pond water temperature PID control system introducing an improved single-corner whale optimization algorithm module; s2, introducing an improved single-corner whale optimization algorithm, and constructing an improved single-corner whale optimization algorithm module; s3, setting and optimizing the pond water temperature PID control parameters by using an improved single-corner whale optimization algorithm to obtain optimal control parameters; and S4, setting an optimal control parameter obtained through optimization by using the improved single-corner whale optimization algorithm as a parameter of a pool water temperature PID controller, and optimizing a pool water temperature regulation control effect. According to the method, a swarm intelligent optimization algorithm, namely an improved unicorn whale optimization algorithm, is introduced, high-performance control over the pond water temperature is achieved, and reliable control technical support is provided for efficient, stable and safe operation of aquaculture.

The invention relates to the technical field of thermal management control, and particularly discloses a thermal management controller regulation and control method and system based on dynamic thermal inertia prediction. According to the method, the dynamic thermal inertia model is constructed through system identification, and the future temperature field evolution and thermal accumulation risks of the system are accurately predicted. On the basis, a multi-layer nested compensation strategy composed of pre-compensation, main compensation and residual compensation is generated in three dimensions of a compensation angle, a compensation order and a compensation domain, and prospective accurate intervention is achieved. In order to evaluate the control effect, an artifact intensity entropy value is introduced as a quantitative index, and a model and a strategy are corrected in real time through an outer ring optimization mechanism to form self-correction. When continuous thermal unbalance caused by hardware design defects is detected, the system can further start hardware cooperative regulation and control, local heat capacity and a heat dissipation path are optimized fundamentally, cross-level cooperative optimization from a control algorithm to a physical structure is achieved, and finally high-precision, low-energy-consumption and self-adaptive system-level thermal management is achieved.

The invention discloses an aircraft landing gear shimmy test bed and a test method, the aircraft landing gear shimmy test bed comprises a main body rack, a hanging basket system, a large flywheel, a flywheel driving system, an excitation device and a follow-up displacement measurement system.The aircraft landing gear shimmy test bed can simulate the shimmy of an aircraft after undercarriages of different design configurations are subjected to interference excitation force or interference torque in the process of takeoff, taxiing, landing and the like of the aircraft; the control effect of the shimmy damping system on the stability of the undercarriage has short excitation time so as to simulate real working conditions, the shimmy stability performance of the undercarriage can be accurately detected, excitation is continuously carried out under the condition that the test state is continuously changed, and the working efficiency is greatly improved. The follow-up displacement measuring system designed by the invention can enable the exciting force and the center of the axle to be always kept on the same horizontal plane, can apply torque control and torque excitation control, is suitable for undercarriage shimmy tests with different axle heights, different tire diameters and different excitation modes, and has certain universality.

The invention discloses medical soap for sterilizing, relieving itching and removing acne and a manufacturing method thereof, belonging to the field of articles of everyday use. The medical soap is prepared from ingredient A, ingredient B and ingredient C, wherein the ingredient A is prepared from dandelions, folium isatidis, rabdosia rubescens and glabrous sarcandra herb; the ingredient B is prepared from radix angelicae, rhizoma typhonii, white poria, Chinese angelia root tai, radix pseudostellariae, raw milkvetch root, Chinese honeylocust fruit, red paeony root, prepared kusnezoff monkshood root, radices lithospermi, cortex dictamni, thunberg fritillary bulb, fiveleaf akebia fruit, white muscardine silkworms and solanum lyratum; the ingredient C is prepared from soap base, honey and bovine bone marrow oil. The medical soap disclosed by the invention is used for external washing or smearing after being wet by adding water in the morning and evening every day; after a person with smelly feet washes the feet, the medical soap is smeared in gaps between toes; and the medical soap is not suitable for use when the skin is damaged. The medical soap prepared by the invention is a black brown solid body, and has soap medicine odor; the medical soap can be used for nourishing the skin, is antiallergic, beautifies the features, removes acne, relieves itching, removes freckles, clearing heat and deterring sweat; the medical soap can beautify the features, whiten the skin, and remove the acne and the freckles when used for washing the face, and can deter the sweat, remove the smelly odor and treat dermatophytosis when used for washing the feet; and the medical soap has a control effect on the itching toxin which appears after mosquito bite, and has a moisturizing effect for the person having the dry skin.

The invention discloses a gelatin solution temperature control optimization method for donkey-hide gelatin processing, and belongs to the technical field of swarm intelligence optimization. Comprising the steps that a gelatin solution temperature closed-loop PID control system in the donkey-hide gelatin decocting process is constructed, an improved side hand spider turning optimization algorithm is configured to serve as a parameter setting core, the self-adaptive setting process of PID control parameters is executed, and a global optimal control parameter vector obtained through optimization is mapped to a donkey-hide gelatin solution temperature PID controller module. The method focuses on the PID parameter setting problem of donkey-hide gelatin liquid temperature control, introduces the improved side hand turning spider optimization algorithm as a swarm intelligence algorithm to set the donkey-hide gelatin liquid temperature PID control parameters, and can effectively overcome the defect that the side hand turning spider optimization algorithm is easy to fall into local optimum. And the temperature of the donkey-hide gelatin liquid can be controlled more excellently.

The invention discloses a safety control method and system for an emerging control main body, and belongs to the technical field of power system active control, and the method comprises the steps: carrying out the bidirectional data interaction through a master station AGC and a field station AGC, and carrying out the bidirectional data interaction based on a bidirectional data interaction result and a cooperative anti-error parameter; whether the emerging control main body is in a controllable state or not is judged in real time through collaborative security locking logic; if the control main body is in the controllable state, active measurement data of the emerging control main body are obtained, and jump detection and multi-source checking are carried out on the active measurement data; after verification is passed, a pre-control instruction is generated based on the control strategy, and reasonability verification and control effect simulation verification are carried out; and after the control effect simulation verification is passed, the pre-control instruction is taken as a final control instruction to be issued to the emerging control main body for execution. The method can greatly improve the safety control capability of AGC on an emerging control main body, guarantees the frequency operation safety of a power grid, and improves the safe and reliable power supply capability of the power grid.

The invention provides a reinforcement learning algorithm-based intelligent regulation and control method for a vacuum heat-insulation core pipe column. The method comprises the following steps of S1, acquiring operation data of the vacuum heat-insulation core pipe column; s2, preprocessing the collected data and dividing a data set; s3, constructing a reinforcement learning model; s4, reinforcement learning model training and verification; s5, collecting and preprocessing a real-time state; s6, reasoning a reinforcement learning model and generating an optimal regulation and control action; s7, executing the regulation and control action; s8, regulation and control effect monitoring and feedback data acquisition; s9, carrying out reward calculation and reinforcement learning model increment optimization; and S10, cycle regulation and control and convergence judgment are carried out. According to the method, through the closed-loop process of data acquisition, fusion modeling, training optimization, real-time regulation and control and feedback iteration, the problem that heat preservation stability and energy consumption economy are difficult to consider in regulation and control of the vacuum heat insulation and heat preservation center core pipe column is solved, and a landing technical path is provided for intelligent operation of high-precision heat preservation equipment.

The invention discloses an active power and frequency coordination control method for a wind storage combined system, and belongs to the technical field of electric power system operation and control. The problems that in the prior art, due to wind power and load uncertainty, the frequency control effect is poor, energy storage life management is insufficient, and long-term and short-term control instructions are disjointed are solved. The problem is solved by constructing a three-layer collaborative architecture of a predictive optimization layer, a real-time coordination control layer and an execution layer: the predictive optimization layer randomly optimizes and generates a reference state track and a frequency modulation capacity instruction of an energy storage unit based on a scene method; the real-time coordination control layer utilizes a deep reinforcement learning coordination controller, synthesizes frequency deviation, SOC compensation signals and frequency modulation capacity reservation instructions, and dynamically distributes active power of a fan and energy storage; and the execution layer realizes rapid issuing of the instruction. The method is mainly used for active power coordination and frequency support of a wind storage combined system in a high-proportion new energy power system, and can effectively delay energy storage life attenuation while stabilizing frequency fluctuation.

The invention discloses a frequency modulation control method and system for a thermal power generating unit, and relates to the technical field of frequency modulation control, and the method comprises the steps: collecting a frequency modulation instruction signal of a power grid, decomposing the frequency modulation instruction signal, and obtaining a plurality of intrinsic mode function components and residual components; performing spectral analysis on each intrinsic mode function component, marking the component of which the main frequency exceeds a high-frequency disturbance frequency threshold as a high-frequency disturbance component, and calculating a fluctuation amplitude and a change rate; a thermal system control instruction is generated through a PID control algorithm, the coal feeding amount and the main steam pressure are adjusted, and an auxiliary compensation control instruction is generated for the high-frequency disturbance component through a fuzzy control algorithm; a thermal system control instruction and an auxiliary compensation control instruction are converted into operation parameters of a thermal power generating unit control mechanism and issued for execution, when the control effect deviation continuously exceeds a deviation threshold value, an optimization process is triggered, and the frequency modulation stability and the equipment safety of a unit in the environment that new energy is accessed to a power grid in a high proportion are remarkably improved.

The invention provides an intelligent control method for natural gas continuous heat treatment equipment based on digital twinning, and relates to the technical field of heat treatment equipment control. The method comprises the steps that a digital twinning model of the natural gas continuous heat treatment equipment is established, and production monitoring data collected on line are utilized; the method comprises the following steps: predicting combustion process characteristics and unmeasurable states through a digital twin model, performing multi-layer strategy search by adopting a hierarchical control strategy according to a state prediction result, performing safety constraint simulation verification on the multi-layer strategy in the digital twin model, and predicting unmeasurable state parameters through a soft sensor. And introducing the quality index as a soft constraint condition into optimization control, and generating a control execution parameter meeting the constraint condition. The technical problems that in the prior art, natural gas continuous thermal treatment equipment is poor in control effect and unstable in workpiece quality are solved. The technical effects that the natural gas continuous heat treatment equipment is intelligently, accurately and reliably controlled, and the product quality is improved are achieved.

The invention belongs to the technical field of agricultural microorganisms, and discloses a strain of stenotrophomonas sp., which is named as stenotrophomonas sp. R5, is preserved in the China Center for Type Culture Collection on September 20, 2023, the preservation address is Wuhan University, Wuhan, China, and the preservation number is CCTCC NO: M 20231758. The invention further discloses a microbial agent containing the bacterial strain and application of the microbial agent in prevention and treatment of rice planthoppers. According to the stenotrophomonas sp. R5 and the microbial agent containing the stenotrophomonas sp. R5, the control effect on rice planthoppers can reach 90% or above, compared with a conventional control method, the control effect is remarkably improved, and the survival rate of rice is greatly increased.

The invention relates to the field of traffic hub intelligent agents, is used for solving the problems of insufficient management and control advance and insufficient management and control effect caused by dependence on passive response management and control and lack of active management and control during traffic hub management and control, and particularly relates to a traffic hub state monitoring system based on multi-source data fusion analysis. According to the method, three-dimensional fusion is carried out by combining a knowledge graph and multi-source data, the relevance between different data is judged according to a fusion result, a related data warehouse is created as a prediction rule, personnel and traffic flow of a traffic center are subjected to regional analysis, occurrence and occurrence point locations of abnormal events are automatically judged through intelligent analysis, and the prediction accuracy is improved. Active early warning is carried out, managers are assisted in finding abnormal events in time, when the managers carry out dredging decision making on the abnormal events, effect prediction analysis can be carried out in combination with the created data warehouse, the effect of the dredging decision making is dynamically evaluated according to the effect prediction analysis, and the decision making efficiency is improved based on active feedback. Management personnel are assisted to better manage the traffic center.

The invention relates to an unmanned aerial vehicle detection and control method and system for regional defense, and the method comprises the steps: dividing a to-be-defended region, and setting a differentiated flight forbidding threshold and a detection response priority; secondly, constructing a multi-dimensional cooperative detection network of radio spectrum monitoring, millimeter wave radar, photoelectric tracking and an acoustic sensor based on sub-region division, and collecting multi-source data of the unmanned aerial vehicle in real time; judging a sub-region to which the unmanned aerial vehicle belongs through coordinate matching, screening out over-limit target data, and extracting a target feature set of flight speed, height, communication protocol type, radar reflection cross section and voiceprint information; and inputting a target dynamic classification model, and dynamically outputting three threat levels of a harmless civil type threat level, a suspicious reconnaissance type threat level and a high-risk aggressive type threat level. The hierarchical management and control are executed in combination with the sub-region priority and the threat level, the management and control effect is dynamically evaluated based on the preset evaluation index, and the detection parameter and the management and control strategy are adaptively adjusted, so that the intrusion risk of the core region is effectively reduced, and the intellectualization and adaptive ability of regional defense are improved.

The invention discloses an open channel high-flow interference water level control method based on storage compensation and improved PID coupling, and the method comprises the following steps: collecting channel operation parameters in real time, including current flow, water level fluctuation amplitude, predicted demand and on-way resistance coefficient distribution; dynamically constructing a channel damping effect model based on the on-way resistance coefficient distribution, calculating water level control response delay time, and generating a preposed adjustment coefficient; dynamically adjusting the actual participation volume according to the maximum effective storage volume and the maximum effective storage volume of the stagnant storage area; a compensation control quantity is generated by the input improved PID controller; and the compensation control quantity is executed to adjust the opening degree of the channel gate, and dynamic suppression of water level fluctuation is achieved. The water level stability and the control effect of the open channel can be improved.

The invention relates to the technical field of grinding control, in particular to a constant-power grinding control method, system and equipment of a numerical control grinding machine. According to the method, in a preset historical time period of a to-be-regulated moment, a time sequence curve of the deviation of the grinding power of the numerical control grinding machine relative to the preset grinding power is obtained and subjected to time sequence decomposition, and then proportional gain in PID control parameters is obtained according to the change trend of a trend component and the power deviation at the to-be-regulated moment in the trend component; obtaining an integral gain in the PID control parameters according to the periodic fluctuation characteristics of the seasonal components; according to the change trend of the time sequence curve and the fluctuation characteristics of the residual component, and in combination with the proportional gain and the integral gain, obtaining the differential gain in the PID control parameters; and finally carrying out constant-power grinding control on the numerical control grinding machine. The PID control parameters are adaptively adjusted based on the time sequence decomposition result of the power deviation, and the constant power control effect on the numerical control grinding machine is improved.

The invention relates to an anti-reflux control method based on time interval distribution. The method comprises the following steps: acquiring a multi-source fused operation data set; obtaining a trend prediction result set according to the operation data set; according to the trend prediction result set, dividing the prediction time window into a plurality of continuous control time periods, and based on the power generation prediction value, the load prediction value and the uncertainty index of each time period, calculating a corresponding time period countercurrent risk level, and generating a time period risk assessment result; obtaining a time period budget allocation table according to a time period risk assessment result; according to the time period budget distribution table, performing time-division power adjustment on the photovoltaic inverter, the energy storage unit and the controllable load, and realizing smooth transition between adjacent time periods through a cross-time period energy balance mechanism; and monitoring the grid-connected point power and the equipment operation state in real time, and when power deviation or load sudden change is detected, dynamically correcting the current output according to the residual capacity of the time period budget allocation table. According to the invention, the photovoltaic anti-reflux control effect can be improved.

The invention belongs to the technical field of fabric process chain control, and particularly relates to a multi-process cooperative control system and method based on an open-width processing process chain. According to the method, the downstream is compensated in advance through disturbance source identification and feed-forward prediction, response lag and overshoot caused by disturbance transmission are remarkably reduced, the cloth cover is restored to a target state more quickly, and full-line tension fluctuation and breadth deviation are effectively reduced by coupling feed-forward and feedback and combining self-adaptive control of fabric humidity and temperature weighting; the defect rates of breadth breaking, wrinkling, edge warping and the like are reduced, the qualified rate and consistency of finished products are improved, a good control effect can be kept under different raw material, humidity and temperature conditions based on dynamic weight adjustment of historical data and fabric states, manual intervention and frequent parameter resetting are reduced, a disturbance source positioning mechanism can rapidly indicate the problem occurrence procedure, and the working efficiency is improved. And maintenance and root cause analysis are facilitated.

The invention provides a new energy vehicle flying protection method based on a vehicle comprehensive control system and a medium. The new energy vehicle flying protection method comprises the following steps that vehicle state parameters are continuously collected; based on the vehicle state parameters, judging whether the vehicle enters a flying state or not; after it is confirmed that the vehicle enters the flying state, power pre-adjustment and vehicle body posture pre-adjustment are conducted on the vehicle; when the vehicle lands, traction control and stability control are cooperatively executed, so that stable grounding and posture stability are achieved. According to the integrated design, the advantages of system redundancy and cooperative control are brought into full play, the problems of information islands and control conflicts possibly existing in a traditional independent protection system are solved, the whole vehicle control system can form unified control resultant force, and the control effect and the system reliability are improved.

The invention provides an intelligent temperature control method for a corrugating machine, and belongs to the technical field of corrugated paper products.The intelligent temperature control method comprises the steps that a steam temperature sensor set and a linear speed detection device are installed on a corrugating machine production line, and a speed-steam temperature dynamic compensation mathematical model based on nonlinear regression analysis is established; a feedforward control system architecture is constructed to realize real-time calculation and transmission of a steam temperature compensation value, a double-layer game optimization model is established to coordinate steam energy consumption minimization and composite quality optimization targets, and a self-adaptive adjustment algorithm is started according to composite strength and appearance quality feedback signals to dynamically adjust model parameters. Steam temperature coordination control is implemented to optimize temperature distribution, a steam temperature control effect evaluation system is established for real-time evaluation, and the technical problem that in the prior art, steam temperature dynamic compensation control cannot be achieved according to the speed change of a production line in the production process of the corrugating machine is solved.

The invention relates to the technical field of intelligent robot control, in particular to a small robot dynamic balance control system based on DDPG, which comprises a sensor and a preprocessing module, provides accurate and reliable state data through denoising and standardization processing, and enhances the accuracy of subsequent processing; the ESO observer module estimates the system state and the total disturbance in real time, and the adaptive capacity and the anti-interference performance to the complex environment are improved; the information fusion and time sequence alignment module ensures information synchronization and accuracy through fusion processing and multi-dimensional state vector construction, meanwhile, the timeliness of a control decision is ensured, and the overall control effect is improved; the DDPG strategy network and the security layer module are combined with strategy optimization and multi-layer security constraints, continuous and safe control actions are output, and the stability and security of control are improved; and the actuator interface module realizes control instruction transmission, forms closed-loop feedback, adjusts a control strategy in real time, and improves the dynamic balance capability and the overall stability of the system.

The invention discloses a dynamic optimization control method and system for a multi-power-supply system, and relates to the technical field of multi-power-supply system optimization, and the method specifically comprises the following steps: analyzing the matching degree of the charging and discharging rate of a battery and the output power of other power supplies based on a multi-dimensional nonlinear regression model when the change amplitude of a load demand exceeds a preset change threshold value, dynamically evaluating the power coordination condition between the battery and the power supply by combining the charge-discharge rate, the electric quantity, the health state and the load fluctuation trend of the battery; and optimizing power distribution between the battery and the power supply according to a matching analysis result, and intelligently dispatching output power of the battery and other power supplies. According to the invention, the problem that the multi-power system cannot dynamically optimize scheduling based on the power matching degree of the battery and each power supply when the load demand changes rapidly is solved, and the real-time, accurate and efficient control effects of the cooperative work of the battery and the power supply are realized.

The invention relates to the technical field of water conservancy control, and discloses a water conservancy gate cooperative control method and system, and the method comprises the steps: fusing the real-time operation parameters and environmental hydrological parameters of a water conservancy gate, and obtaining a dynamic feature data set; identifying the interaction relationship between the water level and the flow velocity parameter, and constructing a hydraulic association network; determining a leading gate and an auxiliary gate based on the network edge weight, and generating an initial control instruction sequence; a control effect data set is formed by monitoring actual data and an operation state of opening degree adjustment; analyzing a control deviation between the control effect data set and an expected control target to correct an action time sequence and an opening parameter in the gate coordination rule to obtain an optimal control strategy; a gate cooperation rule in the optimization control strategy is fed back to the construction process of the hydraulic association network, and the judgment standards of the main gate and the auxiliary gate are updated; the cooperative control efficiency of the water conservancy gate can be improved.

The invention discloses a robot joint torque control system and method, and the system comprises a joint torque sensor which is used for detecting the actual output torque of a joint; the joint driver is used for driving robot joints to move according to the control instruction; the bearing pre-tightening mechanism is used for applying pre-tightening force to the joint bearing; the multi-source environment sensing module comprises a temperature sensor used for detecting the temperature of the bearing, a vibration sensor used for detecting the mechanical vibration frequency and amplitude, and an electromagnetic interference detector used for detecting the electromagnetic interference intensity; the intelligent compensation module is integrated in the controller and comprises a thermal deformation compensation unit, the input end of the thermal deformation compensation unit is connected with the temperature sensor, and the thermal deformation compensation unit is used for generating the first torque compensation amount. According to the method, high-stability control over the robot joint torque is achieved, the influence of various kinds of interference and uncertainty on the torque control effect is reduced, the reliability under the complex working condition is remarkably improved, and the higher-precision robot joint torque control requirement is met.

The invention relates to the technical field of polycrystalline silicon preparation, and discloses a polycrystalline silicon reduction furnace intelligent regulation and control system based on multi-parameter prediction, which is based on full-dimensional data such as current, raw material purity, silicon rod temperature and the like acquired by a multi-parameter sensing module, and realizes the intelligent regulation and control of a polycrystalline silicon reduction furnace through a burst interference quantification sub-module in a bidirectional linkage fusion prediction module. The deviation entropy quantification interference intensity of the multi-parameter change rate is calculated, migration learning emergency correction terms are synchronously called to dynamically compensate prediction errors, meanwhile, the one-way dependence defect is broken through, and a dynamic physical boundary is provided for a data driving prediction constraint module through physics, electrode contact resistance and in-furnace heat balance parameters; the NMPC module takes a bidirectional fusion high-precision predicted value as a target, solves a multi-target optimization control sequence and issues and executes the multi-target optimization control sequence, and the closed-loop iterative optimization module synchronously updates physical and data model parameters through incremental learning on the basis of an actual regulation and control effect, so that the problems of current regulation lag and formula parameter stiffness are solved, and long-term stable operation of the reduction furnace is supported.

The present disclosure provides a cooperative distributed model predictive control (Co-DMPC)-based chassis multi-agent system (MAS) cooperative control method for autonomous vehicles, a controller, and a storage medium. A distributed state-space equation with state coupling and control input coupling characteristics is established. Meanings and transformation methods of predicted trajectories, assumed trajectories, and optimal trajectories of the states and control inputs are designed, providing a communication basis for information exchange between the agents. In order to coordinate the global performance indexes of a vehicle, a local agent optimization problem considering cost coupling is established, and the influence of the cooperative relationship on the control effect is quantitatively analyzed through adaptive weight coefficients. A method of performing a plurality of iterations within a unit sampling time is adopted, and iteration errors are utilized to enable the controller to achieve a balance between solution accuracy and efficiency.

The embodiment of the invention provides a robot, an operation method and device of the robot, a storage medium and a program product. The method comprises the steps that sensing force data of a mechanical arm is received; the external force and the internal force are distributed based on the sensing force data of each mechanical arm in the at least two mechanical arms, so that the corresponding sensing external force and sensing internal force of each mechanical arm are determined; based on the sensing external force and the sensing internal force corresponding to each mechanical arm, the expected external force and the expected internal force of the target object and the expected position of the target object, calculating the force and the position so as to determine the expected position of each mechanical arm; and according to the expected position of each mechanical arm, inverse kinematics solution based on whole-body control is carried out on the robot, so that the joint positions of each mechanical arm and each joint in the waist are determined, and each mechanical arm is controlled to operate the target object based on the joint positions. According to the embodiment of the invention, a multi-arm force control framework based on whole-body control is constructed, the force control effect is good, and the operation stability of the robot can be improved.

The invention discloses an aluminum wheel die-casting die temperature closed-loop regulation and control system and method, and belongs to the technical field of aluminum alloy die-casting forming and intelligent control, the system comprises a data acquisition module, specifically a temperature sensor, a flow sensor and a pressure sensor which are arranged at key positions of a die, and the data acquisition module is in communication connection with a prediction module; the prediction module adopts a CNN-LSTM composite neural network model, the prediction module is in communication connection with an optimization decision module and provides a prediction value, the optimization decision module adopts an integrated tree structure Pareto estimator (TPE) and provides an optimal decision to the execution control module, the execution control module is a PLC, and the PLC is connected with the prediction module. And a feedback learning module is also arranged and is used for carrying out online updating on the prediction model and the optimization strategy according to the control effect data. The method can effectively reduce energy consumption and manual intervention cost, and has remarkable practical value and economic value.

The invention discloses a hybrid cascade system commutation failure suppression method caused by sending end faults, and belongs to the technical field of high-voltage direct-current power transmission systems. The invention aims to provide the method for suppressing the commutation failure of the hybrid cascade system caused by the sending-end fault, which comprises the following steps of: monitoring the deviation between a direct current instruction value and an actual value in a system fault recovery period in real time, and dynamically adjusting a rectifier-side trigger angle instruction according to the deviation so as to control the direct current recovery rate and amplitude. According to the method, the dynamic recovery characteristic of the sending-end bus voltage and the constant direct-current voltage control effect of the inversion-side MMC are combined, and key influence factors of commutation failure are systematically analyzed; a commutation failure suppression strategy based on a rectification side additional trigger angle is provided. According to the method, the influence of the phase dynamic change of the alternating current bus voltage at the rectification side and the constant direct current voltage effect of the MMC at the inversion side on the commutation failure in the fault recovery process is fully considered, and reference is provided for safe and stable operation of the hybrid cascaded high-voltage direct current power transmission system.