879 results about "Control principle" patented technology

The invention discloses an active power control method of master station-end wind power field subject to wind power grid integration for a large-scale wind power integrated network, and belongs to the technical field of power systems. The method comprises the following steps of: providing a regional power grid active scheduling framework containing wind power field control, predicting newly increased functional short and ultra-short wind power by adopting the control principle of wind power-based predicted ''generating plan tracking'' serving as a main aspect and wind power unit ''direct frequency modulation participation'' serving as a secondary aspect, and describing auxiliary frequency modulation; providing data flow design of an active scheduling system containing wind power field control; providing a wind power field active power control mode to improve the wind power receiving capacity of the power grid by wind power participating power grid active control based on the current wind power control technology; and providing stable section-based wind power field active power control so as to further solve the wind power consume problem under high wind power permeability rate by using the renewable energy source such as maximum dissipated wind power and the like as principle on the premise of ensuring that the wind power of the system is connected to the important section stability margin.

The invention relates to the field of medical facility automation, in particular to a lower limb rehabilitation training robot. The lower limb rehabilitation training robot comprises a lower limb rehabilitation training mechanism and a walking trolley mechanism. The lower limb rehabilitation training mechanism comprises a waist fixing base, hip joint motors, thigh connecting rods, thigh fixing belts, knee joint motors, crus connecting rods, crus fixing belts, ankle joint motors and sole supporting bases. The waist fixing base and the thigh connecting rods, the thigh connecting rods and the crus connecting rods, and the crus connecting rods and the sole supporting bases are connected respectively through rotating pairs, and rotate relatively by a certain angle under driving of the related motors to form coordinating gait movement. The walking trolley mechanism comprises a trolley frame, wheels, a handle and a hanging belt. The lower limb rehabilitation training mechanism is used for rehabilitation training of the aspects such as muscular strength, mobility of joint and coordination after lower limb contracture of limb hemiplegic patients, the control principle is simple, wearing and operation are easy, the application range is wide, and patients can select different modes for training according to different rehabilitation stages.

The invention discloses an operation optimization method and an instruction device of an internal-combustion traction locomotive. The device adopts RS-485 serial communication mode to collect the train running information of current time, combines the static storage information in basic databases, adopts the operation optimization method of the internal-combustion traction locomotive with the cores of the real-time control algorithm for train running with energy saving. Namely by designing the real-time control algorithm based on combining the methods including the preliminary judgment on the operation condition of the locomotive and the handle position by the parameters including balance slope and target velocity, the expert control principle, the forward calculation of train operation and the calculation meeting the duration, the invention calculates on -line the guide proposal of the train operation optimization based on the current running environment and condition, real-time displays the operating guidance curve of velocity versus distance and the operating guidance curve of traction speed versus distance for the frontward 5 kilometers of the train running. The system can ensure that the train restores to run on schedule and runs in energy conservation via the dynamic adjustment on operation strategy or target velocity.

The invention discloses a double-rotor-wing unmanned plane. Flying control on the double-rotor-wing unmanned plane is realized based on a four-rotor-wing unmanned plane flying control principle by designing a single-degree-of-freedom automatic tilter, semi-rigidity rotor wings and a flying control system. The unmanned plane consists of a stander, a plane body, a power bin, rotor wing systems and a rotor wing system support, wherein the plane body is provided with an equipment bin in which a flight posture sensor group, a PID controller, a lithium battery and an electronic speed controller are arranged; the plane body, the power bin and the rotor wing system support are in rigid fixed connection through the stander; a brushless motor and a steering engine are arranged in the power bin; the steering engine drives a pull rod to operate the single-degree-of-freedom automatic tilter and control the rotor wings to periodically change the distance; the angle of the tilter is measured by a potentiometer, so that precise control is facilitated; the rotor wing systems are symmetrically arranged and are positioned on the same horizontal plane; the rotating directions of the rotor wings are opposite, and the rotor wings are mounted on a total distance hinge so as to be mechanically limited to do waving motion. According to the unmanned plane, the operation mechanism is simplified; the flying quality is good; the requirement on the precision of a theoretical model is low, and an extremely high practical value is achieved.

The invention discloses a control method for stabilizing the fluctuation of wind power by an energy storage system. Data acquisition equipment acquires wind power data, wind storage synthesized output force data and state of charge (SOC) data, and inputs the data into a stabilizing control module; in the stabilizing control module, a maximum wind farm active power change limit value Plimit' per minute is used as a control target, a control principle that the control target is met and the energy storage system of a battery has relatively high charging / discharging capacity is adopted, and the input data are calculated according to a stabilizing control strategy; the wind power data PWG(k) is subtracted from the wind storage synthesized output force Pout(k-1) to obtain a different value deltaP(k); the obtained different value deltaP(k) is compared with the wind minute-level active power change limit value Plimit' and the maximum output force limit value maxPbess of the energy storage system of the battery so as to judge whether the energy storage system of the battery participates in regulation and control over the wind power output force; when deltaP(k) is greater than the Plimit' and less than the maxPbess, a control instruction for controlling the energy storage system of the battery is output; a battery management system (BMS) controls the output force of the energy storage system of the battery; therefore, the fluctuation of the wind power is stabilized, and the negative effects of the wind power on a power grid is reduced.

The invention relates to a control method and device for station train running operation during the railway transportation. The control method for station train running operation is characterized in that the current station site lines, equipment and train running static basic data is used as train route inherent card control principles and conditions; through the train plan planning, dispatching command processing and flow process operation setting, the train card control conditions are enriched and refined; the route integral card control condition of each train is formed; in addition, one-by-one checking and rechecking are performed on various card control conditions before the train route building; route handling is performed after the errorless condition is confirmed. The control device for station train running operation provided by the invention comprises a plurality of function modules; the method provided by the invention is realized through each functional module; the timeliness and the comprehensiveness of the card control condition inspection are ensured; the correctness of the route building is ensured; the occurrence of wrong route handling problem is fundamentally avoided.

The invention relates to a hybrid energy storage system comprising various energy storage carriers. The system is mainly based on an ordered energy control strategy, the energy storage carriers are selectively discharged in a current-limiting or power-limiting mode through a pulse width modulation (PWM) closed-loop control principle and a monitoring system selective control principle, the advantages of the energy storage carriers are combined and complemented, the disadvantages of the energy storage carriers are overcome, and the aim of ordered energy utilization of different energy storage carriers is fulfilled according to a discharge priority sequence, namely a third energy storage subsystem, a second energy storage subsystem and a first energy storage subsystem. By the hybrid energy storage system, the phenomenon that the power of a power grid fluctuates because a wind and light power generation system or a high-power load and the like are connected to the power grid is avoided, smoothing compensation is realized, the quality of electric energy is improved, and the stable operation of the power grid is ensured.

A single folding mode is mostly adopted for the traditional folding wing, and has the limitation on the effect of reducing the ground occupied spaces of an aircraft (especially a high-span-cord-ratio airplane). The invention relates to the design of a novel folding wing capable of reducing the horizontal occupied spaces in ground driving and storage of the aircraft effectively. A three-section dual-folding wing provided by the invention is separated into three sections including an inner wing, a middle wing and an outer wing; and the wing surface is folded twice through a linkage rod folding mechanism. Auxiliary torque is provided for the inner wing hinge part by utilizing a torsional spring, and the driving performance of a folding system is improved; the wing folding / unfolding motion is continuous and stable; and the wing surface can rotate at uniform speed, and the control principle is simple.

The present invention aims at disclosing an active-passive-typed endoscopic surgical robot, which is used for the necessary endoscopic pose adjustment in the minimally invasive operations. The invention includes a carrying vehicle, an ascending and descending mechanism, a big swivel arm and a small swivel arm, a stepping motor, an endoscope clamping device and a control system which is composed of a control panel, a DSP digital signal processor and a stepping motor driver. The information which can be received by the DSP digital signal processor is generated by using the invention and pushing the operation buttons on the operation panel, and the relevant instructions can be also emitted with the help of the stepping motor driver, so as to change the rotation direction and angle of the big swivel arm and the small swivel arm; then, the endoscope which penetrates the abdominal (chest) wall of the patients is moved under the restraints of the skin at the insertion point, so as to obtain the best image of the surgical site on a display. The active-passive type is differentiated by whether a moving bar is provided with a controllable motor for dragging. The invention has simple structure and control principle, relatively low production cost and can facilitate the development and production of the products.

The invention discloses a shield tunneling position and pose intelligent prediction method and system based on hybrid depth learning, and belongs to the field of construction of subway shields. According to the method, a prediction control principle and an artificial intelligence technology are adopted based on a shield misalignment mechanism, positions and poses in a shield tunneling stage are predicted according to a built hybrid depth learning model WCNN-LSTM, an adjustment strategy of the shield positions and poses is formulated, and pre-adjustment and prior control of operation parametersare realized so that the problem of shield misalignment is improved. The method is used for performing intelligent prediction of subsequent change of the positions and poses in a tunneling process ofa shield machine, supports a shield machine driver to adjust the shield positions and poses in advance, solves the snake-shaped motion difficulty of the shield machine, alleviates the modulation control hysteretic effect of the shield positions and poses, realizes accurate control of a tunneling axis of the shield machine, can effective promote formation quality of the tunnels and has higher engineering practical values.

The present invention relates to a feeding acidifier prepared by emulsifying technology and a preparing method thereof. The invention belongs to the technical field of animal feed additive preparing. The feeding acidifier comprises the following components according to content: 8-20 parts of lemon acid; 5-20 parts of fumaric acid; 10-15 parts of phosphoric acid; 5-20 parts of malic acid; 15-25 parts of lactic acid; 6-15 parts of formic acid; 2-10 parts of acetic acid; 2-5 parts of mouthfeel modifying agent; and 3-5 parts of silicon dioxide. The invention provides a novel preparation form of acidifier and combines the physical and chemical properties of shaping material for developing the novel producing technique of acidifier according to the sustained-release control principle. The feeding acidifier prepared according to the emulsifying technique of the invention effectively settles the problem of stomach digesting of acidifier and the effect directly gets to the intestinal canal. The feeding acidifier prepared by emulsifying technology according to the invention has the advantages of reliable safety, excellent free-running property, strong moisture absorption resistance, convenient processing, growth promotion, diarrhea prevention, etc.

The invention provides an industrial robot dragging teaching method without adopting a torque sensor. The method comprises the steps that a joint inverse dynamic model is adopted for joint moment compensation, so that a joint is controlled to be in a near-zero force balanced control state; according to a jitter control principle, feedforward is controlled through drive jitter within a dead zone of friction force, so that the joint is in an activated state, velocity integral grain of a universal control system adopting serial PID control is one order of magnitudes that of a system adopting normal control, and the controller velocity integral gain is increased to improve the dynamic response of the control system in the dead zone of the friction force; a slope dynamic compensation method is adopted for compensating coulomb friction; and a dragging teaching technology is achieved in a universal position control mode, so that switching of a control mode of a driver is avoided. According to the dragging teaching method adopted in the invention, the torque sensor is not needed, and the cost is low.

The invention belongs to the technical field of underground pipe gallery management and control, and relates to an intelligent management and control system for an underground pipe gallery, in particular relates to a public tunnel used for laying electric, communication, radio and television, water supply, drainage, heat, gas and other municipal pipelines underground and an overall monitoring, management and control system thereof; the mainbody system structure mainly comprises a control terminal and a controlled terminal; the related control terminal part comprises an intelligent management and control system for an underground pipe gallery, a data report sub-system and an abnormity alarm sub-system according to function distinction; the related controlled terminal part comprises an environmental unit operation monitoring sub-system, a three-dimensional equipment polling sub-system, an operation maintenance and management sub-system, an equipment operation rate control sub-system anda handheld portable information management and control sub-system according to function distinction; the system is scientific in design concept, advanced in technical scheme, reliable in control principle, convenient to operate and use, good in real-time controllability, and friendly in application environment.

The invention discloses an island detecting method based on positive feedback of voltage harmonic distortion in the technical field of a distributed power generating system. In the invention, based on the grid connection control principle of the distributed power generating system, a voltage harmonic distortion positive feedback circuit is additionally arranged, the curve of the voltage harmonic distortion H of a microgrid and the area S surrounded by time shafts are calculated by utilizing a sliding data window, and whether an island is caused is judged according to the magnitude of the areaS. The island detecting method has a simple principle, has no effect on damaging the power quality, can be used for detecting the island quickly and effectively in the worst condition defined in the IEEE Std.1547, is applicable to various types of open circuit conditions, is not interfered by pseudo islands, and has good engineering practicality.

The invention provides a tank gun control servo control method based on an auto-disturbance rejection control technology, which can improve the dynamic firing accuracy and the weapon stabilization accuracy of a fire control system. The tank gun control servo control method comprises the following steps: step 1, establishing a large-caliber gun turret control model; step 2, designing a tracking differential controller in a horizontal stabilizer based on the auto-disturbance rejection control technology according to the control model established in the step 1; step 3, designing a third-order extended state observer (ESO) according to the large-caliber gun turret control model put forward in the step 1 to estimate the disturbance of the system and compensate in real time; step 4, obtaining a differentiation between an error e1 and an error e2 according to the obtained large-caliber gun turret control model; and step 5, obtaining a system control law according to an auto-disturbance rejection control principle after a nonlinear feedback law is designed.

The invention aims to provide a three-axle air bearing table balancing method with simple structure, low cost and convenient operation and a three-axle air bearing table balancing device. The three-axle air bearing table balancing device consists of flywheel systems and weight balance mechanisms; the flywheel systems include two sets which are both installed on the plane of the three-axle air bearing table orthogonally and correspond to two sets of weight balance mechanisms installed on the ball bearing center radial line of the three-axle air bearing table; the weight balance mechanisms include two sets which are both installed on the ball bearing center radial line of the three-axle air bearing table and on the plane of the three-axle air bearing table orthogonally. The three-axle air bearing table is provided with the special weight balance mechanisms and the special flywheel systems, which are capable of controlling the free movement of the table. The control principle of the flywheel is to keep the present gesture unchanged and the balance weight is automatically controlled and moved according to the speed change of the flywheel on the table surface, thus realizing online measurement and adjustment, as well quick and accurate automatic balance. The method and the device have simple structure, convenient operation and low cost.

Embodiments of the invention disclose a torque control method for electro-magnetic doubly salient motors, relate to the technical field of variable magnetic reluctance type motor control, and aim at inhibiting torque pulsation and enhancing the torque performance of electro-magnetic doubly salient motors. According to the control method, a rotation speed and torque double loop locked control structure is adopted, the rotation speed and torque are used as controlled volumes, and the controlled volumes are driving signals of a power converter. The control principle is described as follows: the output of a rotation speed outer ring serves as a given value of the torque; a torque observer outputs a corresponding torque value according to an acquired three-phase current signal and an acquired rotor position signal to serve as a feedback value of the torque; and the given value and feedback value of the torque undergo hysteresis control and switching state query table to output correspondingpower converter driving signals. The method is suitable for the torque performance optimization of electro-magnetic doubly salient motors.

The invention discloses a dynamic self-adaptive air conditioner control system. The dynamic self-adaptive air conditioner control system comprises an air conditioner control circuit and a wearable type terminal which is used for acquiring a physiological signal of a human body, wherein the air conditioner control circuit is used for receiving a signal from the wearable type terminal in a wireless mode and generating a corresponding air conditioner control signal according to the fuzzy control principle. The dynamic self-adaptive air conditioner control system can be used for realizing dynamic tracing of user state changes, automatically regulating and controlling the operation state of the air conditioner according to practical thermal comfort conditions, under different states, of the user body, and guaranteeing that the indoor temperature is always within a thermal comfort region of a changing body, so that the air conditioner control system is relatively intelligent and automatic, and therefore, the air conditioner is relatively comfortable and energy-saving.

The invention relates to an environment-friendly tableware forming plate cutting machine, which comprises a plate support sliding platform, a transmission mechanism, a swaging mechanism and a cutting mechanism, wherein the transmission mechanism comprises a first rodless cylinder which is arranged in the longitudinal direction, a cross rod which is driven by the first rodless cylinder and upper and lower clamping plates which are positioned on two sides of the cross rod; the swaging mechanism comprises a horizontal swaging plate; and the cutting mechanism comprises a support rod and a cutting device and a lifting cutter groove which are driven by a second rodless cylinder. According to the cutting machine, continuous cutting motion is controlled by using a pneumatic control principle skillfully, so the environment-friendly tableware forming plate cutting machine is reasonable in design, simple in structure, easy to maintain, clean, sanitary and convenient to use, and can operate for a long time.

The invention discloses a robot for lower-limb rehabilitation training. The robot comprises a control panel, a case body assembly as well as a drive part assembly, a drive arm assembly, a driven arm assembly, an ankle joint assembly and a shank assembly which are sequentially connected, wherein the drive part assembly comprises a hip joint motor and a speed reducer and is used for driving the drive arm assembly to control the hip joint to move; the drive arm assembly comprises a drive arm, one end of the drive arm is connected with an output shaft of the speed reducer, and the other end of the drive arm is rotationally connected with the driven arm assembly; a driven arm assembly body I used for driving the driven arm assembly to control the knee joint to move, a driven arm assembly body II used for driving the ankle joint assembly to control the ankle joint to stretch or bend and a driven arm assembly body III used for driving the shank assembly to control the shank to move are arranged in the driven arm assembly. The robot for lower-limb rehabilitation training is used for rehabilitation training on the range of motions, coordination of joints and the like, is easy to operate and suitable for wide occasions and can be used for training in different modes according to different rehabilitation stages, and the control principle is simple.

The invention relates to a control method of a finished series hybrid power electric vehicle based on fuzzy logic, belonging to the technical field of control of hybrid power electric vehicles. A required working state of a drive motor is divided into seven areas according to an expert control principle, engineer experience, vehicle working area characteristics and the working characteristics of the drive motor; a working state of a power battery is divided into seven areas according to the characteristics of the power battery; an output state of an engine is divided into three to five fuel economy and low discharge points according to the working performance of the engine; the fuel economy and low discharge points of the engine are output by adopting a fuzzy logic algorithm and adopting the charge state of the power battery and the required powder of the drive motor as input variables according to the change of the input variables, and the engine, the power battery and the drive motor are operated in an efficient area. The invention can reduce the working participation time of the battery and an energy drive chain, improve the energy-saving effect of the finished vehicle, the economy and the discharge performance of the engine and prolong the service lives of the finished vehicle and all components.

The invention provides an automatic control method for the top pressure of a TRT (blast furnace top gas recovery turbine unit) system, which comprises the following steps of: converting the gas flow of the system into a Cv value, and creating a Cv-opening relation table of a stationary blade and a Cv-valve opening relation table of a bypass valve; controlling the TRT system by a speed PID regulator, a power PID regulator and a top pressure PID regulator respectively; controlling the top pressure in an operation stage of the TRT system, wherein the power PID regulator and the top pressure PID regulator of the system are connected to a split-ranging controller through a low selector; controlling the opening of the stationary blade and the opening of the bypass valve according to a split-ranging control principle; and after the system receives an emergency stop signal, closing an emergency cut-off valve, opening the bypass valve and controlling to slowly close the bypass valve, and regulating the pressure of the blast furnace by a pressure reducing valve group. The method provided by the invention solves the technical problems of low stability in regulating the top pressure of the blast furnace by the TRT, low generating efficiency, limited regulation ability, great fluctuation of pressure in the emergency stop process and the like caused by inaccurate performance data of the valve and insufficient circulation of TRT design.

The invention discloses a system for realizing balanced discharging of battery sets. The system comprises a plurality of balanced discharging modules, wherein the plurality of balanced discharging modules are connected in series in sequence to form positive and negative terminals of the system; the input end of each balanced discharging module corresponds to a battery; and the control end of each balanced discharging module is connected with a single chip system for keeping residual electric capacities of the batteries in the battery sets to be consistent by logic control. According to the system, the battery sets are connected in series by the balanced discharging modules; as the balanced discharging modules are connected in series, the discharging currents are the same, so that the discharging power of a monomer battery can be controlled by controlling the discharging voltages of the balanced discharging modules, therefore, the balanced discharging of the battery sets is realized and the over-discharging phenomenon caused by different SOC (state of charge) values is avoided. According to the system, a switch control principle is adopted, so that the energy consumption of the traditional passive balancing is avoided and the energy loss caused by energy transfer in active balancing is also avoided. The system can be widely applied to the field of battery management.

The invention relates to a large-scale open channel water level automatic control method based on storage capacity dynamic regulation. The method comprises the steps of determining a feed-forward flow regulating value; determining whether the feed-forward flow regulating value needs to be subjected to feedback correction or not; calculating a feedback correction value of a feed-forward control flow; calculating a flow regulation target value; calculating the actual opening of a gate; adjusting the opening of the gate. The method disclosed by the invention adopts a feed-forward flow control mode and fully considers the influences of division flow and water level dead areas for controlling a water surface profile of the whole channel section, so that water level fluctuation at local points can be flattened and filtered out, the sensitivity to movement dead areas of the gate is reduced, and accordingly frequent operation for the gate is reduced. Storage capacity compensation conditions required by stable water delivery are conveniently realized, so that the phenomenon of water level overswing is effectively reduced, and stability can be more quickly realized. The control principle is simple and clear and easy to realize and grasp, the influences of various disturbance factors can be effectively avoided, the operation and management cost of an open channel is reduced, the water delivery safety is ensured, and the water delivery efficiency is improved.

The invention relates to a traffic control method for passing efficiency improvement facing different traffic bottleneck sections. For a rapid road bottleneck section, division is carried out based on geometrical characteristics; different traffic control methods are employed for different traffic bottleneck types; an optimal control method in a current traffic flow state is determined based on traffic demands of a main road and a ramp; and optimized control on a traffic flow is realized by employing ramp controlling and variable speed-limiting controlling comprehensively. Therefore, defects that various traffic control methods are not targeted and applicability and advantages and disadvantages of different bottleneck types and control principles are not taken into consideration in the prior art can be overcome. Advantages of ramp controlling and variable speed-limiting controlling are realized fully based on a practical measuring traffic flow state. The road passing efficiency is improved by reducing the system passing time in a range of the rapid road section.

The invention provides a method for trapping, preventing and controlling adults of ectropis obliqua by combining mint pheromone and colors. The method comprises the following steps of: authenticating 18 main components in mint odor qualitatively and quantitatively; performing biological test by using a wind tunnel instrument to screen out 3 components of menthol, menthone and linalool with highest trap effect to prepare an taste source substance at the concentration of between 10<-6> and 10<-1>g / ml; preparing the taste source substance into a trapping agent in a ratio of 1:0.1-15:0.1-15 and carrying the trapping agent on a trapping core; in the main eclosion period of the adults of the ectropis obliqua, screening khaki with highest trap effect out from 10 colors; and combining the trapping core with a khaki adhering plate to form a trapper to trap the adults of the ectropis obliqua in the main eclosion period of the adults of the ectropis obliqua so as to reduce the amount of eggs of the next generation and reduce chemical prevention and control. The method has the advantages of no pollution, accordance with a green preventing and controlling principle for insects and the requirement of construction of a standard ecological tea garden, convenient operation and low cost.

The invention discloses a networked train operation plan regulating method based on a layered stepped intelligent mixing optimization method. The regulating method comprises the following steps of: on the basis of utilizing a layered stepped control principle of a large system, improving the conventional operation plan model; dividing an operation plan regulating model into a road network layer, a zone layer, a train group layer and a train layer; and regulating objective functions or constraint conditions of each layer. A high-speed train group and a medium-speed train group are respectively optimized in the groups by a coordinated optimization algorithm based on a genetic algorithm so as to solve the model. In the solving process, the initial value of the algorithm is searched by a mode matching method, so that computation speed is increased, and computation accuracy is improved. More effective new thoughts and methods are provided for operation regulation of high-speed rail trains.

The invention provides an ABS brake anti-lock device based on DSP 56F8346. The device comprises an electric control device which takes the high-performance digital signal processor 56F8346 as a CPU, a vehicle wheel rotation speed sensor and a hydraulic system. The electric control device outputs sine wave electric signals according to the four vehicle wheel rotation speed sensors; the signals are then converted to the counting pulses in direct proportion with the wheel speed through a hardware circuit; the CPU collects the counting values and calculates the rotation speed of the four vehicle wheels; the electric control device controls the work of the hydraulic system according to a certain control principle, thus respectively implementing the anti-lock brake and control to the two front wheels respectively and the two rear wheels synchronously and implementing the safe deceleration and the stable driving of the vehicle. The ABS brake anti-lock device of the invention implements the intelligentization and the integration and has wide market application prospect.

The invention provides an electromagnetic field control based force sense and tactile sense fusing reproduction device and an electromagnetic field control based force sense and tactile sense fusing reproduction method. Based on the electromagnetic field control principle, a size and direction controllable three-dimensional background electromagnetic field is generated in a cubic box body wound around by a coil. A wearable glove with magnetic modules is used, an electromagnet module in the palm of the glove is used for force sense reproduction, electromagnet modules at the tips of fingers are used for texture tactile sense reproduction, and the magnetic modules interact with the three-dimensional background magnetic field. Meanwhile, variation of the electromagnetic interaction forces of the magnetic modules in the corresponding positions of human hands is controlled by detecting the three-dimensional position information of the human hands in real time. The device and the force sense and tactile sense fusing reproduction method, which are designed according to the invention, have the effect of innovatively realizing force sense and tactile sense fusing multipoint interactive and non-contact novel force sense and tactile sense fusing reproduction.

The invention discloses an energy management method applicable to a multi-energy cooperation comprehensive energy network in the Internet of energy. The uncertainties of forecast variables such as an output of renewable energy power generation equipment, a requirement on an electric and thermal load and real-time fluctuation of the energy market price are expressed by a scene generation technology according to constraint conditions such as multi-energy stream energy balance and equipment operation of the applied multi-energy cooperation comprehensive energy network in the Internet of energy, a random planning model with the lowest total energy cost for operation and full power generation with the output of a distributed power supply is constructed, and rolling optimization is realized by applying the model forecasting and control principle; and a management strategy is solved by a two-layer accelerated solving structure including an input layer and a solving layer so as to ensure that energy management has the capacity of quick and on-line solving.