5239 results about "Control mode" patented technology

The invention relates to the field of robot control, and provides a humanoid robot control system and method based on reinforcement learning, and the humanoid robot control system comprises a first control subsystem and a second control subsystem. The first control subsystem comprises a strategy reasoning module, a state conversion module and a robot control module; the second control subsystem comprises a data acquisition module and a driving control module; the data acquisition module is used for finishing timestamp alignment and abnormal value filtering of sensor data and transmitting the data to the state conversion module; the state conversion module is used for fusing multi-source sensor data and constructing a time sequence state feature containing a real-time measurement value and historical time sequence information; the strategy reasoning module is used for generating a multi-joint angle target value of the robot according to the time sequence state characteristics provided by the state conversion module; and the robot control module is used for analyzing the multi-joint angle target value output by the strategy reasoning module, selecting a control mode and generating a control command comprising a parameter adjustment instruction.

The invention discloses a thermal power generating unit deep peak regulation control system, and relates to the technical field of thermal power generating unit deep peak regulation, the thermal power generating unit deep peak regulation control system comprises a deep peak regulation control center, and the deep peak regulation control center is in communication connection with a data acquisition module, a load prediction module, a working condition monitoring module, a distributed control module and a safety monitoring early warning module. By introducing a distributed control architecture and bat algorithm optimization, each subsystem of the thermal power generating unit is divided into a plurality of local control units, independent and cooperative control is realized, the flexibility and the response speed of the thermal power generating unit in the deep peak regulation process are remarkably improved, and the reliability of the thermal power generating unit is improved. Distributed control ensures that each subsystem can quickly adjust operation parameters according to actual load requirements, and the global optimization capability of the bat algorithm further improves the self-adaptability and decision-making efficiency of the system in a complex working condition, so that the problem of response lag in a traditional centralized control mode is effectively solved.

The invention discloses a slurry pump control method and related equipment, and relates to the technical field of seawater desalination, and the method comprises the following steps: obtaining sensor data of a slurry pump; data analysis is conducted on the sensor data, and the working condition abnormal index of the slurry pump is determined; determining a target control instruction corresponding to the working condition abnormal index based on the working condition abnormal index and a preset threshold interval; and based on the target control instruction, the slurry pump is controlled to execute corresponding target regulation and control operation. Real-time monitoring and intelligent judgment of the operation state of the slurry pump are achieved, early warning can be triggered at the initial stage of equipment abnormity, the operation parameters can be adjusted in a self-adaptive mode, the response delay problem of a traditional single control mode is effectively avoided, and the operation reliability and safety of the equipment are improved.

The embodiment of the invention provides an excavator handle control system for remote operation, a handle control method based on a Hall sensor is adopted, non-contact rocker data sensing is achieved, the influence of contact and movement abrasion on the service life of a handle is reduced, and the excavator handle control system has the advantages of being high in sensitivity and good in performance; the handle mechanism is more flexible to operate, and the service life of the handle is prolonged; a two-hand cooperative control mode is adopted, and two three-degree-of-freedom handles are used for simulating the driving environment of a real excavator, so that a good remote control effect is achieved, and the feeling of presence of an operator in the remote operation process is improved; the operation habits of a driver are fully considered, the walking and working of the excavator are respectively controlled through combination of different degrees of freedom of the left hand handle and the right hand handle, an operating lever of the real excavator is simulated in the aspects of structure, motion degree of freedom and working range, and the man-machine interaction environment of excavator driving is restored.

The embodiment of the invention provides a grid-connected inverter control mode switching method and device, equipment, a medium and a product, and is applied to the technical field of electrical control. The method comprises the following steps: acquiring a control mode switching signal of the grid-connected inverter, and determining a switching direction of a control mode based on the switching signal; when the switching direction indicates that the current control mode is switched from the GFL mode to the GFM mode, setting an initial value of an integrator of a power synchronization loop of the GFM mode as a phase angle value of a phase-locked loop corresponding to the GFL mode; switching the control mode from the GFL mode to the GFM mode based on a first preset path and a step-by-step switching mode; when the switching direction indicates that the current control mode is switched from the GFM mode to the GFL mode, acquiring a power steady-state output value of the GFM mode, and setting a power reference value of the GFL mode as the power steady-state output value; and switching the control mode from the GFM mode to the GFL mode based on the second preset path and the step-by-step switching mode. The technical effect of improving the control mode switching fluency is achieved.

The invention relates to a PFC-PWM (Pulse Width Modulation) dual-mode control method for a high-voltage direct-current power supply with a wide output voltage range. The output current of the high-voltage direct-current power supply is detected in real time, the critical threshold value of the load impedance is mapped into the hysteresis interval of the output current, the theoretical boundary of mode switching is obtained, and the control mode is dynamically adjusted. In order to further guarantee smooth switching of the two control modes, hysteresis control logic is designed, and undisturbed smooth switching of the PFM mode and the PWM mode is achieved. Based on an energy equivalence principle and a frequency consistency constraint of a critical load SWL working point, a current threshold criterion and a parameter pre-synchronization strategy are constructed, seamless connection of a mode switching process in a frequency domain and an energy domain is ensured, a transient oscillation risk is remarkably reduced, and a guarantee is provided for continuous and stable output of a full-range load working condition.

The invention relates to the technical field of information fusion, in particular to a multi-modal information fusion control system and method, and the system comprises a target difference evaluation module, a modal replacement judgment module, a modal lag recognition module, a modal weight reconstruction module and a control instruction output module. According to the method, dynamic adjustment and optimization of the control system are achieved by comprehensively evaluating the difference of the execution parameters in the control period, tiny changes in task execution can be reflected in detail by calculating the path coordinate difference value, the category variation frequency and the offset variation amplitude, and then the control strategy is accurately adjusted; the adaptive capacity and decision precision of the system to the environment change are improved, the control mode more suitable for the current task environment can be switched to in time by evaluating the output error and the matching score between the modes, and the resource allocation is optimized and the response speed and the processing efficiency are improved by identifying the abnormal response mode and reallocating the mode weight.

The invention discloses a wearable exoskeleton man-machine cooperation real-time control method based on artificial intelligence, and relates to the technical field of exoskeleton robots, and the method comprises the steps: recognizing an exoskeleton scene in power grid maintenance, analyzing the demand degree, and constructing a maintenance demand sequence; determining a collaborative analysis scene based on the maintenance demand sequence; performing quantitative analysis on the man-machine confrontation event in the collaborative analysis scene to obtain a collaborative deviation value and generate a collaborative analysis signal; constructing a data set according to signal extraction features, and predicting man-machine cooperative control behaviors by using a genetic algorithm; finally, the exoskeleton is controlled in real time according to prediction, the man-machine cooperation degree is judged, and the control mode is switched when necessary. The exoskeleton man-machine cooperation performance is improved, the cooperation problem can be found in time, the control strategy is optimized, and it is guaranteed that electric power overhaul work is conducted efficiently and safely.

The invention discloses a resource adjustment method and system based on power grid frequency deviation, and relates to the technical field of AGC control, and the method comprises the following steps: obtaining environment state data, and constructing an environment state vector; initializing a control agent according to a preset control mode, taking the environment state vector as input, training the control agent through a reinforcement learning reward function, and outputting a strategy action; dynamically switching the strategy action into a control strategy of the AGC controller based on a soft switching and strategy interpolation mechanism; a model prediction control method is adopted, and the power set value of the AGC control unit is optimized in a rolling mode; according to the method, the trained control agent is integrated into the AGC controller through reinforcement learning, so that the AGC controller can dynamically switch the control strategy of the AGC controller, self-adaptive selection of control actions is realized, and the power grid frequency is controlled to be stable by correcting the set value of the unit in the AGC controller and improving the control precision.

The invention discloses a digital control system and method of a VI source, and relates to the field of VI source control. A main loop controller and a clamping loop controller are separately arranged in a main controller, and seamless switching between the main loop controller and the clamping loop controller is realized in cooperation with a monitor; the main loop controller is responsible for accurately outputting voltage / current under a normal working condition, and the clamping loop controller is specially used for overload protection. The two controllers are provided with programmable adjusting parameters, and the response speed and the steady-state precision are dynamically optimized according to load characteristics. The monitor adopts a periodic scanning mechanism, monitors an output signal in real time and intelligently switches a control mode. According to the invention, the four-quadrant operation capability is realized, the hundred microsecond level protection response speed is realized while high-precision output is maintained, and the problems of response hysteresis and parameter solidification existing in a traditional simulation protection circuit are effectively solved.

The invention discloses a belt type roasting machine operation control method and system. The method comprises the steps that roasting machine operation control parameters including the material level, the fan rotating speed and the air bellow temperature target value are set; collecting the blanking amount, the machine speed, the material level and the temperature measurement values of the roasting section air bellow and the soaking section air bellow in real time; calculating a speed target value based on the blanking amount change rate and the material level error, and dynamically adjusting the speed of the trolley; and a fuzzy control strategy or a regular control strategy is selected according to the blanking fluctuation state, the historical control mode and the fan-speed matching degree. In the fuzzy control mode, slope characteristics are extracted through temperature curve fitting, fuzzy decision is carried out in combination with temperature errors, and the fan rotating speed adjustment amount is output; and in the rule control mode, the fan rotating speed adjustment amount is determined according to a predefined rule table. And finally, the fan target rotating speed is updated according to the fan rotating speed adjustment amount, and the rotating speeds of the main induced draft fan and the backheating fan are adjusted according to the fan target rotating speed. The stability of thermal parameters of the belt type roasting machine can be improved.

The invention relates to the technical field of automatic spraying, and particularly discloses a spraying system based on multi-modal vision and artificial intelligence self-correction, comprising a multi-modal vision acquisition module for acquiring color image information, depth information and infrared feature information; the control module is used for generating a spraying sensing model according to the information of the multi-modal visual acquisition module; the control module carries out spraying area identification, track planning and spraying parameter decision making based on the spraying sensing model; the spraying execution module is used for spraying; and the feedback self-correction module iterates the spraying parameter decision in the control module based on a reinforcement learning algorithm according to the difference between the actual coating state information and the expected state. The control method based on multi-modal vision and artificial intelligence self-correction is applied to a spraying system based on multi-modal vision and artificial intelligence self-correction. The scheme is used for solving the problems that the spraying quality of complex workpieces is not high due to the single sensing dimension of an existing spraying system, and the production flexibility is poor due to the rigid control mode.

The invention relates to the technical field of boiler combustion control, in particular to a boiler combustion multi-target collaborative optimization control method and system. The method comprises the following steps: firstly, acquiring coal quality parameters in real time through a laser-induced breakdown spectrum analyzer, carrying out qualitative and quantitative analysis on spectral data by utilizing a machine learning algorithm, constructing a boiler combustion digital twinborn model fusing a combustion mechanism model and a data driving model, and predicting combustion characteristics, NOx generation trends and coking risks under different blending schemes; and then, dynamically generating an optimization instruction combination according to a prediction result of the digital twinborn model, establishing a safety interlocking mechanism while executing the optimization instruction, and automatically switching to a manual control mode when detecting that the working condition fluctuates severely or the model prediction deviation exceeds a preset threshold value. According to the method, the problems of coal quality information lag and untimely combustion adjustment caused by traditional manual sampling are effectively solved, and the economical efficiency, the safety and the environmental protection property of boiler operation are improved.

The invention discloses a converter collaborative current limiting method based on adaptive virtual impedance and a power loop, and the method comprises the steps: firstly building an equivalent impedance model of a converter and a power grid, analyzing the steady-state and transient characteristics of fault current, and extracting key parameters for current limiting design; when it is detected that the voltage drop of the grid-connected point exceeds a threshold value, a self-adaptive virtual impedance link is automatically put into use, and virtual resistance and reactance values are dynamically calculated according to the variation amplitude of voltage or current, so that the virtual resistance and reactance values are proportionally adjusted along with the fault degree; and when the system voltage returns to normal, the virtual impedance automatically quits, and the control continuity is ensured. Then, the active and reactive power reference values are dynamically corrected according to the voltage drop depth, a power reference signal matched with the voltage amplitude is generated, it is guaranteed that power output does not exceed the limit, and the voltage supporting capacity is improved. Finally, real-time current-limiting control of the converter and stable operation of the system are realized on the premise of not switching the control mode through the synergistic effect of the virtual impedance ring and the power ring. The method has the advantages of being high in response speed, excellent in current limiting effect, good in control continuity and the like, and is suitable for fault current limiting and voltage support control of the grid-forming converter.

The invention relates to the technical field of power supplies, and discloses a high-precision power supply control method based on a digital signal processor, which comprises the following steps of: acquiring data such as voltage, current, temperature, load parameters and the like of a power supply at a high frequency of kHz-level sampling frequency by using a high-precision sensor, transmitting the data to a DSP (Digital Signal Processor), and removing noise interference by applying wavelet transform. Sample quality is improved through high-frequency data acquisition and wavelet denoising, nonlinear and time-varying characteristics of a power supply system are identified by using a lightweight CNN and an LSTM, a reinforcement learning dynamic optimization control strategy is combined, self-adaptive switching between traditional control and an intelligent algorithm is realized through working condition identification, and the power supply system control method based on the LSTM is realized. The problems that noise interference influences data quality, system characteristic recognition is inaccurate, complex working condition control strategy optimization is insufficient, and output precision is unstable due to the fact that a control mode cannot be switched in a self-adaptive mode in an existing power supply can be effectively solved, and control precision, efficiency and device loss can be considered. And the stable operation requirement of the high-precision power supply under multiple working conditions is met.

The invention discloses a land energy storage container self-adaptive liquid cooling heat dissipation device and method, the device comprises a liquid cooling unit, a self-adaptive circulation pipeline, a variable flow pump valve group, a distributed temperature sensing module and a BMS main control module, through data monitoring, model establishment, thermal load prediction, selection of a proper cooling mode, and introduction of reasonable compensation, the self-adaptive liquid cooling heat dissipation of the land energy storage container is realized. And the variable-frequency circulating pump and the valve body are adjusted and combined for execution. Through multi-parameter fusion control, dynamic impedance matching and intelligent algorithm optimization, a cooperative control mode of a variable orifice regulating valve and a variable frequency circulating pump is innovatively adopted, and dynamic matching of cooling loop impedance is achieved; through temperature field modeling, heat dissipation demand grading prediction, a cooling parameter self-optimization algorithm and fault self-diagnosis, the balance degree of the temperature field is effectively improved, heat dissipation energy consumption is reduced, environmental adaptability is enhanced, and meanwhile the method has the advantages of being high in reliability, wide in environmental adaptability and low in operation and maintenance cost.

The present application relates to the technical field of vehicles, and provides a vehicle control method and apparatus, an electronic device, and a medium. The method comprises: on the basis of the transverse motion state quantity and the longitudinal motion state quantity of a first vehicle, solving for a tracking control problem for tracking a planning path and a planning speed, so as to obtain a first wheel steering angle control quantity and an expected acceleration of the first vehicle, wherein the first wheel is a front wheel or a rear wheel, the planning path comprises a reference value of the transverse motion state quantity of the vehicle at a series of time points in the future, and the planning speed comprises a reference value of the longitudinal motion state quantity of the vehicle at a series of time points in the future; obtaining the acceleration control quantity of the first vehicle on the basis of the expected acceleration of the first vehicle and the actual acceleration thereof; and controlling the first vehicle on the basis of the first wheel steering angle control quantity and the acceleration control quantity of the first vehicle. In the present application, vehicle control is carried out in a transverse and longitudinal combined tracking control mode, so that the speed tracking accuracy can be improved as much as possible while the path tracking accuracy is ensured.

The invention discloses a control method of an electric actuating mechanism. The electric actuating mechanism is used for driving a valve to be opened and closed. The control method comprises the steps that real-time operation state parameters of the electric actuating mechanism are collected; determining a parameter control target value of the electric actuating mechanism according to a preset control mode; extracting historical operation data of the electric actuating mechanism, and outputting a control signal on the basis of a set target value according to a preset adaptive algorithm in combination with the historical operation data and the current operation state parameter; and driving the electric actuating mechanism based on the control signal. According to the technical scheme, the control precision of the electric actuating mechanism on the valve can be effectively improved.

The invention discloses a multi-mode hybrid energy storage cooperative control method and system for a megawatt-level network-building type energy storage power station, and the method comprises the steps: S1, collecting the frequency, voltage amplitude and phase of a power grid, and the charge state and temperature of each energy storage branch, and generating real-time monitoring data; s2, determining an operation mode of the energy storage power station based on a comparison result between the frequency deviation and the voltage deviation in the real-time monitoring data and a preset threshold value; s3, based on the operation mode of the energy storage power station, performing double-layer decomposition on the power instruction through a high-pass filter and a low-pass filter to generate a super-capacitor power instruction and a lithium battery power instruction; s4, generating an internal potential amplitude and a phase angle by adopting a virtual synchronous machine algorithm; and S5, on the basis of the amplitude and the phase angle of the internal potential and the detection result of the power grid connection state, executing switching control of a network construction type control mode or a network following type control mode. The millisecond-second level multi-time scale power optimal distribution is realized; self-adaptive inertia and voltage support is carried out; and island / grid-connected seamless switching is realized.

The invention relates to the technical field of lime kiln control, and discloses a lime kiln partition intelligent temperature control system and a storage medium, and the system comprises a data collection unit which is used for collecting state data of each region of a lime kiln; the working condition recognition unit recognizes working conditions based on the state data; the temperature control unit is provided with a PID (Proportion Integration Differentiation) control strategy and a prediction control strategy, and the opening degrees of the fuel regulating valves and the air regulating valves in different areas in the lime kiln are calculated according to the corresponding control strategies selected on the basis of working conditions; the discharging control unit is provided with a balance control strategy, the balance control strategy obtains the current discharging speed through the current productivity of the lime kiln and the material level height in the lime kiln, and the execution unit correspondingly controls the lime kiln according to the control quantity. The method effectively solves the problems of difficulty in multi-area coordination, poor working condition adaptability, high energy consumption and the like in a traditional control mode, and has the remarkable advantages of improving the temperature control precision, ensuring the production stability and reducing the energy consumption.

The invention discloses a cooperative ride-through control method for a new energy flexible direct current transmission system under a receiving end fault, and relates to the technical field of flexible direct current transmission, and the method comprises the steps: periodically collecting the grid-connected point voltage of a receiving end converter station, an output active current reference value, and the real-time data of the online impedance estimation of a converter station side; calculating the minimum possible true values of the converter station side equivalent reactance and the short circuit point voltage; calculating a reactive current reference value and an active current reference value of the flexible DC receiving end converter station after the fault occurs; calculating the input time of the energy consumption resistor; the reactive current reference value, the active current reference value and the energy consumption resistor input moment are sent to a receiving end converter station; and when the receiving-end converter station detects that the voltage drop of the grid-connected point meets the low-voltage crossing starting condition, the receiving-end converter station enters a low-voltage crossing control mode and starts control, and the receiving-end converter station performs corresponding adjustment. By the adoption of the method, the rising speed of the direct-current voltage is reduced fundamentally, the input time or the input frequency of an energy consumption device is reduced, and the economical efficiency of fault ride-through is improved.

The invention discloses a dual-mode dynamic cooperative control method and system based on pulling of a mooring line. The method comprises the steps that displacement electric signals are collected through double potentiometers; a Z-axis PWM signal is generated based on the displacement electric signal through a PWM signal generator; an XY-axis PWM signal is generated through the included angle difference between an XY rocker on the unmanned aerial vehicle and the mooring line; the Z-axis PWM signal is divided into two paths, one path is transmitted to a capstan electronic speed controller, and the other path is transmitted to the unmanned aerial vehicle and is combined with the X-axis PWM signal and the Y-axis PWM signal to form a three-dimensional control signal; setting a remote control signal and a winch potentiometer signal as well as a three-dimensional control signal and a winch manual signal as a first linkage group and a second linkage group respectively; when the first linkage group is switched on and the second linkage group is switched off, the unmanned aerial vehicle enters a first control mode; and when the second linkage group is switched on and the first linkage group is switched off, the unmanned aerial vehicle enters a second control mode. The method is used for solving the technical problems of single control mode, insufficient man-machine collaboration, poor environmental interference adaptability and limited control precision existing in traditional mooring unmanned aerial vehicle control.

The invention relates to a noise damping control system of an offshore wind turbine generator, and belongs to the technical field of offshore wind power generation. The coupling state evaluation module is used for determining a coupling state evaluation index through a preset deep neural network model based on the platform motion information, the vibration spectrum data and the sound pressure signal; the cooperative control strategy generation module is used for determining target rigidity and target damping according to the coupling state evaluation index and the vibration spectrum data; according to the invention, the coupling state evaluation module processes platform motion information, vibration spectrum data and sound pressure signals acquired by the data acquisition module through a preset deep neural network model; the preset model is endowed with strong nonlinear fitting capability through offline supervised learning of massive historical working condition data; and an accurate and quantitative risk basis which cannot be reached by the prior art is provided for subsequent control decisions.

The invention relates to the technical field of process optimization, in particular to a collaborative optimization analysis method for multi-station tower drum welding. In order to solve the problem that cooperative control of tower drum multi-station welding is difficult, firstly, multi-mode sensing data of welding seam vision, arc sensing, thermal field distribution and welding voiceprint are loaded, a fusion evaluation model is constructed to obtain a welding seam deviation value and a sensor confidence score, and the health state of a sensor is judged according to a threshold value; and a corresponding fault-tolerant reconstruction control mode is triggered to obtain welding tracking control parameters, then a multi-station welding heat source model is loaded, thermal interference is decoupled in combination with the control parameters and thermal field data, multiple stations are cooperatively regulated and controlled, a cooperative control instruction is output and executed, and welding process optimization is achieved.

The invention relates to the technical field of droop control, in particular to a voltage droop control optimization method and system based on parameter self-adaption and a medium, and the method comprises the steps: dynamically recognizing a voltage sensitive interval according to voltage fluctuation characteristics, determining critical voltage distribution data, and determining a switching trigger condition of a current power grid control mode according to the critical voltage distribution data; analyzing the correlation degree between the current power grid control mode switching event and the power grid stability based on the switching trigger condition to obtain a switching behavior risk level; reconstructing voltage droop control parameter adjustment direction logic based on the switching behavior risk level, and generating a stable direction vector; calibrating the original droop control output signal according to the stable direction vector, and generating a self-adaptive droop control output instruction; and distributing the adaptive droop control output instruction to each substation node for voltage regulation. The voltage droop control parameters are adaptively optimized through the real-time running state of the power grid, and parameter adaptive optimization of voltage droop control is achieved.

The invention relates to the technical field of air conditioning system control, and discloses an airport terminal air conditioning system control method, device and equipment. According to the invention, by combining the number of passengers in any target area in the nth sub-areas of the check-in hall, the security check area and the waiting hall in the preset time period and the load demand parameters of the air conditioning system in the target area in the preset time period, the change of the passenger flow volume in the airport station building can be flexibly adapted; and the regulation and control mode of the corresponding air conditioning system is correspondingly adapted, so that the air conditioning system of the target area is precisely regulated and controlled, and finally the energy consumption of the air conditioning system of the airport terminal is saved.

The invention provides a satellite orbital transfer control method and device, electronic equipment and a storage medium, and relates to the technical field of satellite control. The satellite orbital transfer control method comprises the following steps: constructing a three-dimensional centralized monitoring area corresponding to a target satellite based on acquired first operation information of the target satellite; based on the three-dimensional centralized monitoring area, generating a monitoring instruction, and based on the monitoring instruction, controlling a monitoring terminal corresponding to the target satellite to perform centralized monitoring on the three-dimensional centralized monitoring area; when it is monitored that the target terminal exists in the three-dimensional centralized monitoring area, second operation information corresponding to the target terminal in a unit time period is obtained, and a control mode corresponding to the target satellite is determined based on the first operation information and the second operation information; and based on the control mode, controlling the target satellite to perform orbital transfer operation. According to the invention, the orbital transfer capability of the target satellite can be improved and the collision probability can be reduced.

The invention discloses a direct current charging and discharging control system and method, and relates to the technical field of battery charging and discharging, and the system comprises the steps: monitoring the input and output voltage and current, the battery state parameters and the environment temperature in real time; judging whether the charging and discharging control mode is a charging mode, a discharging mode or a mixed mode according to the analysis result; if the charging mode is determined, the charging current is dynamically adjusted based on a self-adaptive closed-loop control unit; if a discharging mode is determined, dynamically distributing a discharging current based on a load grading strategy and the residual electric quantity of the battery; and if it is judged that the mode is the mixed mode, charging and discharging parallel control is carried out through the dynamic power distribution unit. The technical problems that in the prior art, a charging and discharging control strategy is single, complex and changeable working conditions cannot be adapted, and key parameters are difficult to accurately monitor in real time to achieve efficient battery management are solved, and the technical effects of improving the energy utilization efficiency and enhancing the equipment operation stability and reliability are achieved.

The invention relates to a multi-type emergency vehicle signal dynamic priority control method based on vehicle-road cloud cooperation, and belongs to the technical field of intelligent traffic control. The method comprises the following steps: acquiring an emergency vehicle state and traffic environment data in real time through cooperation of a vehicle-mounted terminal, roadside equipment and a cloud control platform; the cloud control platform dynamically calculates priority scores based on vehicle types, task emergency degrees, predicted arrival time, real-time traffic influences and path complexity multi-dimensional factors; when multiple vehicles have conflicts, collaborative decision making is carried out based on scores; and finally, an optimized signal control strategy is generated and executed. The system effectively solves the problems that a traditional priority control mode is extensive, and traffic jam and multi-vehicle conflicts are easily caused, achieves the purpose that interference to social traffic is minimized while efficient passing of emergency vehicles is guaranteed, and improves the overall efficiency and safety of an urban traffic system.

The invention discloses a deep sea underwater integrated electro-hydraulic actuator system adopting pump and valve combination. The deep sea underwater integrated electro-hydraulic actuator system comprises a hydraulic cylinder, a pump control assembly and a valve control assembly. The pump control assembly comprises a metering pump, a first switch valve and a second switch valve; the valve control assembly comprises a large-flow proportional valve, a small-flow proportional valve, a deep sea compensation energy accumulator and a third switch valve. The metering pump, the first switch valve and a rod cavity of the hydraulic cylinder are sequentially connected through a pipeline, the metering pump, the second switch valve and a rodless cavity of the hydraulic cylinder are sequentially connected through a pipeline, the metering pump, the third switch valve and the deep sea compensation energy accumulator are sequentially connected through a pipeline, and the rodless cavity of the hydraulic cylinder is connected with the large-flow proportional valve and the small-flow proportional valve through pipelines. Two control modes of the actuator can be completed, large-flow control is achieved through the pump control assembly, high efficiency and energy conservation are achieved, flow needed by maintenance is supplied to a rodless cavity of the actuator through the valve control assembly via the large-flow proportional valve and the small-flow proportional valve, and posture keeping and emergency action are achieved.