808 results about "Control set" patented technology

The invention discloses a low-voltage ride-through control method of a flywheel energy storage system, which is based on a low-voltage ride-through control strategy of model predictive current control (MPCC) so as to improve the low-voltage ride-through capability of the flywheel energy storage system when a power grid fails. A future current value is predicted through system modeling and a prediction algorithm, so that effective control is realized. The MPCC-based machine side-power grid side coordination control strategy can quickly respond to the voltage sag of the power grid, provide reactive power support, stabilize the voltage of the direct current bus, and ensure the safe and reliable operation of the flywheel energy storage system during the voltage sag period of the power grid. A traditional pulse width modulation (PWM) technology is abandoned, the optimal switching state is directly selected through a limited control set, and hardware implementation of a power grid side converter is simplified. A differential control strategy aiming at a power grid symmetric fault (three-phase voltage sudden drop) and an asymmetric fault (single-phase grounding) is provided, the method is suitable for a complex power grid fault scene, and the system universality is improved.

The invention provides a cracking equipment data processing method combined with digital twinning, which comprises the following steps: acquiring initial state data and environmental data of a carbon fiber composite material in a cracking furnace, and performing time synchronization processing to obtain a time consistency data set; extracting pyrolysis characteristic parameters of interaction between the carbon fiber bundle and the matrix from the spatial registration data set, and calculating a reaction rate and pyrolysis behavior change of a microscopic scale of a fiber matrix interface to obtain a pyrolysis characteristic parameter set; if a deviation exists between the prediction result and a preset target carbon powder quality index, determining a heating power distribution adjustment amount and a change trend of an air inlet valve opening degree based on a deviation degree, and obtaining a control parameter adjustment set of the cracking furnace; and carrying out constraint and smoothing processing on the control parameter adjustment set to obtain a control set value, formatting the control set value into a closed-loop feedback instruction, and updating the closed-loop feedback instruction to a cracking furnace control system to obtain adjusted pyrolysis operation state data.

The invention relates to the technical field of agricultural production area analysis, and relates to an agricultural production area environment monitoring big data analysis method and system, and the method comprises the steps: collecting agricultural production area multi-dimensional space-time environment data and crop growth state data, and carrying out the preprocessing of the collected data, so as to form space-time feature sequence data containing a timestamp; constructing, training and optimizing a soil organic matter dynamic evolution prediction model, and inputting the farming management measure dynamic regulation and control set quantity and spatial-temporal characteristic sequence data input in real time into the soil organic matter dynamic evolution prediction model for simulation analysis, so as to predict the dynamic evolution prediction of the soil organic matter after the farming management measure of the dynamic regulation and control set quantity is implemented. According to the expected change track and the final achievement state of the soil organic matter content of the agricultural producing area in the whole management period, an operation guidance scheme of the agricultural producing area is generated according to a simulation analysis result. According to the invention, through big data analysis and deep learning intelligent prediction, the utilization efficiency of agricultural resources and the sustainability of production management are significantly improved.

The invention discloses an air-sea cross-domain network slice configuration and response method based on a CTC8180 chip, and belongs to the technical field of air-sea cross-domain communication and network slicing, and the method comprises the steps: S1, configuring and parallelly accessing NETCONF and CLI paths, and converting a configuration instruction into a CTC8180 chip call instruction; s2, creating a resource pool, a logic port, a binding interface and a VRF strategy based on a FlexE technology; s3, finishing forwarding and mapping configuration of a slicing strategy by combining SRv6 path programming, service level mapping and gport identification slice identification; s4, performance monitoring, data acquisition and fault detection are carried out through three protocols; s5, closed-loop control is formed through resource dynamic adjustment, path switching, strategy linkage and the like; and S6, multi-chip compatibility and stable adaptive deployment are realized through the steps of integrating S1 to S5. The invention provides a specific implementation method for constructing logic network slicing capability on high-performance forwarding hardware for air-sea cross-domain specific requirements, and provides reliable communication guarantee for high-dynamic heterogeneous services.

The invention discloses a thermal spraying coating thickness online optimization control method based on digital twinning, and relates to the technical field of intelligent manufacturing, and the method comprises the steps: synchronously collecting multi-modal online observation data and process control observation data in a thermal spraying process, carrying out the time-space alignment, and generating a multi-modal observation set; performing adaptive optimization of multi-modal uncertainty gating on the candidate control set according to the credible thickness field confidence distribution map to generate a control instruction sequence; and the control instruction sequence acts on the thermal spraying process, response feedback data are continuously collected in the execution period, a new multi-mode observation set is generated according to the response feedback data, and real-time closed-loop optimization control is kept. According to the method, the thickness field with high credibility and the credible thickness field confidence distribution diagram can be generated through forward generation and uncertainty quantification of physical guidance, and depth coupling of multi-modal data and physical rules and accurate mapping of uncertainty are achieved.

Provided is an image forming apparatus including: an image forming unit configured to form an image on a recording material; an exhaust fan configured to exhaust air inside the image forming apparatus; a CPU configured to control rotation of the exhaust fan; and a memory configured to store in advance a first control setting value for rotating the exhaust fan at a first target rotation speed. The CPU rotates the exhaust fan based on the first control setting value, and permits the image forming unit to form an image when a rotation speed of the exhaust fan becomes equal to or faster than a lower limit rotation speed for suppressing a discharge amount of UFPs. When a predetermined time period has elapsed, the CPU performs feedback control for the exhaust fan such that the exhaust fan is rotated faster than the first target rotation speed.

The invention provides a compressor and heater control integrated system and a vehicle. The control integrated system comprises a heat management controller, a compressor and a heater, the integrated controller is integrated with a compressor controller and a heater controller, and the integrated controller is in communication connection with the heat management controller; the integrated controller is in communication connection with the compressor pump body and the heater core body and used for controlling the compressor pump body and the heater core body, and the integrated controller and the compressor pump body are integrally installed to form a compressor assembly or the integrated controller and the heater core body are integrally installed to form a heater assembly. Through the innovative design of the integrated controller, centralized control over the compressor and the heater is achieved, the number of controllers and wire harness connection are reduced, the hardware cost and the system complexity are reduced, meanwhile, a software high-voltage interlocking function is adopted to replace hard wire interlocking, the system structure is further simplified, and the reliability and safety of the system are improved.

The invention discloses a gas permeability monitoring method and system based on carbon dioxide geological sequestration, and relates to the technical field of gas permeability monitoring, and the method comprises the following steps: obtaining geological data and a first constraint condition of a target stratum; disturbing the seismic wave frequency to generate a plurality of seismic monitoring control sets; constructing a three-dimensional geological model and a wave velocity change simulation model of the sequestration area, and performing forward simulation to obtain wave velocity change response data under different frequency combinations; wave velocity disturbance characteristic distribution caused by carbon dioxide injection under different earthquake monitoring control sets is obtained, and the set evaluation model is weighted and trained; constructing a second set according to an evaluation result of the set evaluation model and a corresponding earthquake monitoring control set; and fitting a multi-dimensional curved surface according to the second set, and screening an optimal seismic monitoring control set for seismic data acquisition and inversion, thereby solving the problem that traditional single-frequency-band inversion cannot dynamically match a stratum structure and permeability characteristics.

The invention discloses an intelligent constant-humidity control FFU integrated system and a dust-free workshop application method thereof, and relates to the technical field of workshop application, and the method comprises an environment sensing unit which is used for collecting internal and external environment parameters and equipment operation states of a workshop in real time; the prediction unit is used for training and generating a model with a time sequence prediction capability by fusing historical production data and real-time environment fluctuation characteristics so as to output a temperature and humidity change trend and a key adjustment time window of each partition of the workshop in a future time period; the decision-making unit is used for dynamically selecting a target operation strategy from a process priority mode, an energy-saving mode and an emergency mode based on real-time production process requirements, an environment sensitivity threshold value and an energy consumption constraint condition; the parameter optimization unit is used for performing wind field parameter adjustment on the FFU unit under the target operation strategy, and minimizing system energy consumption while maintaining uniform distribution of temperature and humidity; adjustment comprises fan rotating speed gradient configuration, air outlet angle cooperative control and airflow circulation path optimization.

The invention relates to an unmanned aerial vehicle power management and information monitoring system, and the system comprises a power management and information monitoring device which is connected among an unmanned aerial vehicle power supply, an unmanned aerial vehicle flight controller, and an unmanned aerial vehicle load set. Wherein the power management and information monitoring equipment is internally integrated with a unified power management module used for receiving electric energy of an unmanned aerial vehicle power supply and providing one or more transformed stable power supplies for an unmanned aerial vehicle load set; and the information and control concentrator module is used as an information and control relay among the unmanned aerial vehicle flight control, the unmanned aerial vehicle load set and the sensor. The invention aims to help to solve the problems of complex flight control interface and overweight operation burden caused by direct data and control interaction between numerous airborne equipment and a flight controller, and low system integration degree and insufficient reliability caused by decentralized management of a power supply in an existing unmanned aerial vehicle system.

The invention relates to the technical field of mineral processing automation, and discloses a metal dissociation degree regulation-based grinding-flotation collaborative process optimization method which comprises the following steps: acquiring multi-dimensional sensor data in a grinding-flotation production process in real time; establishing a reference prediction model offline based on historical process data; in the online operation stage, the working condition drift state of the current process system is quantified and judged online; when it is judged that significant working condition drifting occurs, a residual compensation model is constructed online; and fusing the prediction result of the reference prediction model and the prediction result of the residual compensation model to generate a final process index prediction value. And based on the final process index predicted value, solving through an optimization algorithm, and generating a cooperative control set value. According to the method, the calculation cost and the data requirement of model maintenance are greatly reduced, and the response speed and the adaptive capacity of the system to the working condition change are remarkably improved, so that the long-term stability and reliability of the collaborative optimization effect are ensured.

The invention relates to the technical field of control and regulation, in particular to a temperature control method, system, equipment and medium for titanium alloy forging, and the method comprises the following steps: constructing a model library for describing thermodynamic behaviors of forgings, and dynamically generating a double-target temperature track; operating a state observer in real time to estimate the internal temperature field of the forge piece on line, and calculating a feedforward control set value based on a model predictive control framework; meanwhile, a feedback correction control quantity is generated through a feedback correction loop, and online correction is carried out on the model; finally, adaptively fusing the feedforward and feedback control quantities to generate and apply a final driving signal; by combining a physical model and a data driving method, the accurate modeling of deformation heat and the estimation precision of the core temperature are improved, metallurgy and cost constraints are balanced, it is ensured that the forge piece is formed in the optimal temperature window, and the problem that in the prior art, it is difficult to control the microstructure of the forge piece to be formed in the optimal temperature window is solved.

The application discloses a control method and device of a grass collecting device and electronic equipment. The control method of the grass collecting device comprises the following steps: obtaining a grass unloading instruction; controlling the grass collecting box to move from a first position to a second position in a first direction according to the grass unloading instruction, wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening angle; and controlling the grass collecting box to swing according to swing parameters, wherein the swing parameters comprise a swing angle, and the swing angle is smaller than the maximum opening angle. By using the control method of the grass collecting device, most of the grass clippings can be unloaded after the grass collecting box is lifted, and different direction inertial forces can be generated in the swinging process of the grass collecting box, so that a small amount of residual grass clippings can be removed through vibration, the situation that the grass is not completely unloaded is avoided, the grass unloading efficiency and effect are improved, and manual unloading operation is saved.

The invention discloses an expressive control dynamic display system and method for a semiconductor design form, and the system comprises an expression configuration module which is used for receiving a logic expression inputted by a user, and prompting available variables in the form in real time; the variable dependency analysis module is used for identifying dynamic variable reference in the logic expression; the change monitoring and scheduling module is used for monitoring a form data change event, acquiring an affected control set when variable value change is detected, and merging and optimizing expression calculation requests; the expression analysis service module is used for performing grammar check and dangerous operation filtering on the logic expression, processing an expression calculation request and returning an analysis result; and the state updating execution module is used for comparing the difference between the analysis result and the current control state according to the analysis result, and judging whether the current control needs to be updated or not according to the difference. According to the method, the problem of performance waste caused by global monitoring data change is effectively solved.

The invention relates to the technical field of crane electrical power supply, in particular to a crane sliding contact line power supply method which comprises the following steps: S1, monitoring the dynamic deformation quantity of a sliding contact line in real time, and obtaining the real-time contact resistance value of a current collector contact surface; s2, calculating the displacement compensation amount of the sliding contact line connector; s3, dynamically generating target contact pressure and transverse offset of the current collector; s4, a current collector executing mechanism is controlled to adjust the contact pressure and the transverse position; s5, if the contact resistance value is reduced to be below a preset threshold value and the deformation quantity fluctuation range is less than or equal to 0.5 mm, determining that the state is a stable power supply state; and S6, predicting a future deformation inflection point of the sliding contact line, and triggering an active compensation instruction before the inflection point. According to the invention, by constructing the slide wire power supply method integrating real-time monitoring, dynamic compensation and trend prediction, accurate adjustment and foresight control of the problem of unstable contact caused by deformation of the slide wire are realized, and the stability of the power supply system is improved.

The embodiment of the invention provides a gallium nitride totem-pole circuit and a control evaluation system of the gallium nitride totem-pole circuit, and the circuit comprises a gallium nitride power device which comprises an integrated semiconductor tube and an integrated drive circuit; the isolation chip is connected between the control module and an integrated driving circuit of the gallium nitride power device and is used for sending the pulse width modulation signal sent by the control module to the integrated driving circuit, and the isolation chip can ensure the electrical safety of weak current and strong current; the gallium nitride power device is used for controlling the on-off state of the integrated semiconductor tube through the integrated driving circuit according to the pulse width modulation signal sent by the isolation chip; under the condition that the integrated semiconductor tube is conducted, the voltage is output to the control module based on the bus voltage through the integrated semiconductor tube, and the driving circuit is integrated on the gallium nitride power device, so that the circuit design can be simplified, overcurrent protection and undervoltage protection are simultaneously carried out, and the safety of the gallium nitride totem pole circuit is improved.

The invention belongs to the technical field of mechanical arm remote controllers, in particular to a mechanical arm six-degree-of-freedom remote controller based on a rocker and an axial finger ring, and provides the following scheme that the mechanical arm six-degree-of-freedom remote controller comprises a remote controller main body, a left control unit and a right control unit, and an STM32F405 main control MCU, a power management module, a communication module, a vibration feedback module and an LED indication module are arranged in the remote controller main body. An axial sliding ring structure is arranged on the basis of a two-dimensional rocker, and six-degree-of-freedom visual control over translation of the tail end of the mechanical arm in the X axis, the Y axis and the Z axis and rotation (pitch, roll and yaw) around the three axes is achieved in combination with a determined sensor, a processor and a communication scheme; an actuator switch button and a speed gear shifting wheel are integrated; the structure is simple and reliable, the ergonomic design is good, the manufacturing cost is controllable, and the response is real-time.

The invention belongs to the technical field of traffic control, and provides a micro-excitation-triggered multi-mode road adhesion coefficient real-time detection method and system, and the method comprises the steps: 1, carrying out the excitation triggering condition judgment; 2, generating a multi-mode excitation signal; 3, collecting dynamic response data; 4, feature fusion and attachment coefficient calculation; and step 5, integrating output and control. By applying high-frequency and low-amplitude micro-torque pulses, dynamic response of the tire is actively excited, and dependence on natural slippage is avoided; tire deformation, driving shaft torque attenuation and suspension vibration frequency spectrums are synchronously collected, and multi-dimensional characteristics of mechanics, acoustics and kinematics are covered; a grouping convolutional neural network and an attention mechanism are adopted to realize efficient feature extraction and fusion, and the bottleneck of traditional road adhesion coefficient detection is broken through.

The invention provides a historical flood inundation dynamic reconstruction method and system based on deep learning, and relates to the technical field of flood simulation, and the method comprises the steps: obtaining a standardized historical flood data set; positioning P terrain cavity deficiency; matching and multiplexing P adaptive filling models in a terrain filling model library according to the P missing feature vectors; carrying out multi-thread parallelization of P terrain cavity deletion; adopting the P corrected terrain structures to carry out pixel-level replacement of P terrain cavity missing to obtain corrected DEM data; and after a two-dimensional hydrodynamic model is constructed based on the corrected DEM data, a hydrodynamic boundary control set is set to drive the two-dimensional hydrodynamic model to execute flood simulation, and a historical flood dynamic evolution process is output. According to the flood simulation method and device, the technical problem that the flood dynamic reconstruction accuracy is affected due to the fact that the flood simulation accuracy is limited due to the fact that topographic data are incomplete and the simulation generalization ability in different areas is insufficient in the prior art is solved, and the flood simulation accuracy is improved.

The invention provides a prediction control method and system for two parallel three-phase converters based on ring current symmetry, and the method comprises the steps: firstly, screening out an optimal vector combination beneficial to ring current suppression, enabling the vector combination to overturn the polarity of the ring current change rate in a single period, and facilitating the optimization of the peak value and the average value of the ring current; on the basis, a brand-new model prediction control set is established; then, on the basis of the provided optimal control set, the circulating current average value is incorporated into a cost function of model prediction control, the provided cost function selects an optimal vector combination in real time by evaluating circulating current average value tracking errors of all combinations in two control periods, suppression of low-frequency circulating current and elimination of direct-current components are achieved, and meanwhile, the low-frequency circulating current and the direct-current components are controlled in real time. Due to the fact that the optimal vector combination achieves loop-to-polarity single-period flipping, the method can further push the loop frequency spectrum up to a high-frequency area. According to the invention, suppression of the low-frequency circulating current is realized, and the direct-current component of the circulating current is completely eliminated.

The invention relates to the technical field of industrial automation control, and discloses a distributed collaborative and intelligent master control system for a candy production line, which comprises a master control unit and a plurality of resource nodes which are connected with each other through an industrial field bus supporting a precise clock synchronization protocol, the general control unit generates and broadcasts a virtual main shaft position signal to define a system time sequence progress; each resource node corresponds to a physical execution unit with different physical response hysteresis characteristics, an electronic cam curve table for defining a mapping relation between a control set value and a virtual spindle position signal is stored, the resource nodes are configured with phase lead compensation logic, and a phase offset is superposed before the curve table is inquired, so that the phase lead compensation is realized. According to the method, phase pre-compensation is introduced in a logic instruction level, so that the problem of cooperative mismatch caused by response inertia difference of heterogeneous physical execution units is solved, and accurate alignment and seamless flexible remodeling of multi-section actions in a time domain are realized.

Mitigation of controls set packing includes generating an Observability Don't Care (ODC) expression for a target register of a circuit design. The target register has an original reset signal that is a constant. A plurality of supports of the ODC expression that are driven by driver registers are grouped into a plurality of groups. Each group of the plurality of groups includes only supports that are driven by driver registers having a same reset signal. A control set of each group is different from a control set of the target register. The reset signal of a selected group of the plurality of groups is designated as a candidate reset signal for the target register based on an evaluation of the ODC expression. The circuit design is modified by connecting the candidate reset signal to the target register in place of the original reset signal.

The invention discloses a constant tension mooring control integrated simulation method and a digital prototype system. The system comprises an integrated simulation model, a three-dimensional visualization system, a QT interaction interface and an AQWA verification model. According to the integrated simulation model, sub-simulation models of ships, constant tension winch control, mooring and environment are constructed and integrated through OpenModelica, a multi-physics field coupled integrated simulation model is established, and integrated simulation of the constant tension mooring control system is achieved; the three-dimensional visualization system builds a three-dimensional virtual model of a ship, a winch, a mooring rope, a wharf and a marine environment based on a Unity 3D virtual engine, and three-dimensional visual dynamic display of a simulation result is realized; the QT interaction interface is combined with visual dynamic presentation, and ship motion, winch state and other parameters and control PID parameters are displayed in real time. According to the invention, joint dynamic analysis and control optimization of the ship mooring system in a complex marine environment are realized.

A central HVAC thermostat controls a central HVAC system of a home. The thermostat further includes a control unit and remote-control device for controlling at least one room HVAC system in a room of the home. The control unit generates control data for the at least one room HVAC system. The remote-control device receives the control data from the control unit. The remote-control device converts the control data to wireless control signals. Finally, the remote-control device sends the wireless control signals to the at least one room HVAC system using a first wireless communication technology. The at least one room HVAC system can include at least one air conditioner or at least one heat pump. The first wireless communication technology can be infrared technology. The control unit further transmits the control data to the remote-control device using a second wireless communication technology.

The utility model discloses an automatic framing double-row electric harvester for allium mongolicum regel. The automatic framing double-row electric harvester comprises a frame body, a power system and a harvesting system, handles are arranged at the rear end of the frame body through two connecting rods, a control set is arranged between the two handles, and a storage battery switch is arranged on the side face of the frame body. The harvesting system comprises three dividers, two cutting discs, a material receiving plate and a material receiving frame, the three dividers are arranged at the front end of the frame body, a gear box is arranged at the top of the rear end of the frame body, a conveying belt is arranged on a conveying belt stone roller on the gear box in a sleeving mode, a frame is fixedly arranged at the rear end of the frame body, and the material receiving frame is placed on the frame. Compared with the prior art, the utility model has the advantages that the structure is simple, and the use is convenient; through the integrated design, the harvesting and framing integrated operation of the allium mongolicum regel is realized, the labor cost is greatly saved, and the working efficiency is improved. Meanwhile, the machine is small in size, convenient to operate, clean and tidy in harvesting, and capable of harvesting two rows of allium mongolicum regel at a time and loading the allium mongolicum regel into a frame in sequence at the same time.

Provided is a robot system that comprises a robot, a robot control device which executes a robot program and controls the robot, and a force detection unit which detects a force acting on the robot. The robot control device comprises: a determination unit that, on the basis of the robot program, determines an operating mode for force control, using the force detection unit, executed by the robot program; and a force control setting unit that sets operation settings for force control in accordance with the operating mode for the force control determined by the determination unit.

The invention relates to the technical field of intelligent Internet of Things platforms, in particular to a smart park management platform for the Internet of Things and an intelligent algorithm, and the system comprises a terminal state sensing module, a response path combination module, a control path sorting module, a communication window adjustment module and a distribution execution regulation and control module. According to the method, equipment response records with associated numbers are extracted, a control set with a parallel relationship in a scheduling period is constructed, a control chain structure with a sequential triggering relationship is formed through connection in combination with the consistency of signal emission and a target response sequence in an instruction track, and paths are divided according to control sources, a number sequence and target types; and the initial time sequence and the response interval characteristics are matched to carry out channel grouping, so that the coordination relationship among multiple chains is enhanced, the hierarchical structure of path organization is enhanced, and the coherent operation capability of a control process in a multi-device scheduling scene, the instruction passing efficiency and the distributed regulation and control capability of communication execution are improved.

The present invention relates to a swarm robot control system, comprising a swarm robot in which individual robots of homogeneity form a swarm and operate in the same plane, and a controller that controls the operation of the swarm robot to form a pattern that surrounds a target having an arbitrary shape based on a Distributed Artificial Potential Field. According to the present invention, in controlling a swarm of robots to surround a target of an arbitrary shape at an equal distance, there is an effect of improving accuracy and operation speed, and improving overall control performance.

The invention relates to a self-adaptive drilling method and system based on hole wall stability and deep learning, and belongs to the technical field of coal mine underground drilling. Aiming at the technical problems that the drilling efficiency is low and the construction safety risk is high due to the fact that an existing drilling control method is difficult to effectively predict and avoid hole wall instability, the method adopts the core technical scheme that a drilling parameter sequence is collected in real time through an orifice sensor; calculating a hole wall instability risk probability in real time by using a pre-trained lightweight hole wall instability prediction network; further, the scheme evaluation network predicts future multi-target performance based on the current state and the candidate control set; and finally, constructing a scoring function by taking the hole wall stability as a primary constraint, preferentially generating a control instruction and issuing the control instruction to a drilling machine for execution. According to the method, intelligent prediction and active control over the stability of the hole wall are achieved, the safety and reliability of drilling construction are remarkably improved, meanwhile, the drilling efficiency and the hole forming quality are both considered, the system calculation load is low, and on-site deployment and application are easy.

The invention discloses a three-dimensional traffic three-dimensional space conflict detection and resolution method based on centralized control, and relates to the technical field of three-dimensional traffic management and wireless communication technology crossing, and the method comprises the steps: obtaining a target operation region and the grid position of each target object in the target operation region; respectively establishing a cylinder protection area and a sphere protection area of each target object; according to the sphere protection area of each target object, performing three-dimensional conflict detection on the target object by using a conflict detection method based on a boundary volume method; according to the cylinder protection area of each target object, performing three-dimensional conflict detection on the target object by using a conflict detection method based on a boundary volume method; based on a fuzzy comprehensive evaluation method, determining a risk degree priority of the conflict target object; and based on a priority rule, carrying out conflict resolution by adopting a speed resolution method, a directional resolution method or a high resolution method. According to the invention, a plurality of target objects in the cluster can be effectively managed and controlled, and ordered movement in the cluster is ensured.