34 results about "Hierarchical control system" patented technology

The invention relates to the technical field of virtual power plant intelligent control, and discloses a virtual power plant intelligent decision-making system and method based on hierarchical cooperative control, and the method comprises the steps: constructing a three-dimensional unified model; an elastic virtual clock system is constructed, and cooperative operation of different time scale systems is realized; developing a time sequence sensing topology reconstruction engine, and optimizing and controlling a topology structure by analyzing time characteristics of nodes; a fault time sequence two-dimensional recovery mechanism is realized, and node faults and time deviation are cooperatively processed; a space-time elasticity evaluation system is constructed, and real-time monitoring of the system state and comprehensive evaluation of the space-time elasticity capability are achieved; according to the invention, by adopting a hierarchical cooperative control technology, time and space dimensions are unified in an elastic control framework, and dynamic self-adaption of each hierarchical control system of the virtual power plant on time characteristics and topological structures is realized.

The application provides a UAV-InSAR-based magnetic suspension system multi-point collaborative reinforcement learning compensation control method, system, device and medium, the method comprises the following steps: using a UAV to carry a lightweight X-band interferometric synthetic aperture radar system to carry out high-precision surveying and mapping on a magnetic suspension line, and constructing an orbit irregularity power spectrum model; a hierarchical control system is constructed, the amplitude saturation controller in the lower layer generates a basic electromagnetic force control law according to the state quantity of the current suspension point; the upper layer compensation controller based on reinforcement learning is an agent, interacts with the environment composed of the suspension frame, the track and the amplitude saturation controller, trains by using the standardized irregularity function obtained from the track irregularity power spectrum model, and outputs the compensation control quantity for each suspension point; the basic electromagnetic force control law and the compensation control quantity are superimposed to generate the total electromagnetic force control law of each suspension point, and the suspension system is actively compensated and globally stably suspended. The application significantly improves the comprehensive control performance of the suspension system.

The invention discloses a hierarchical control system and method for a robot, and the system comprises a driving function domain, a control function domain and a decision function domain, the driving function domain is used for collecting the states of a sensor and an actuator, obtaining state data, and publishing the state data for the decision function domain and the control function domain to subscribe; the decision function domain is used for subscribing state data and receiving a user instruction, generating an action instruction based on the state data and the user instruction, and issuing the action instruction to the control function domain; the control function domain is used for subscribing state data and receiving an action instruction, converting the action instruction into a control instruction according to the state data and issuing the control instruction to the driving function domain; and the driving function domain is also used for receiving the control instruction and carrying out driving control on the actuator based on the control instruction. According to the technical scheme, hierarchical decoupling of a robot control system can be achieved, a closed-loop data stream is constructed, the system operation stability and instruction execution accuracy are improved, and meanwhile independent expansion and upgrading of system functions are facilitated.

The invention relates to the technical field of hoisting machinery, and particularly discloses a driving safety warning system which comprises a signal input unit, a hierarchical control unit in electric signal connection with the signal input unit, a PLC in electric signal connection with the hierarchical control unit and an irradiation unit in electric signal connection with the PLC. The signal input unit comprises a speed sensor and a starting signal module, and the grading control unit is responsible for carrying out danger grading according to signals collected by the signal input unit. According to the driving safety warning system provided by the invention, the driving dynamic state is monitored in real time through the hierarchical control system, irradiation warning is performed according to different colors according to the dynamic state, and a multi-direction and multi-grade driving dangerous area visual warning system is constructed through red-green double-color light area hierarchical projection and dynamic range control; the problems of simplification and staticization of a traditional warning mode are solved; in addition, when materials similar to square pipes are suspended, position deviation caused by shaking of the materials is warned, and the positions are corrected in time.

The invention belongs to the technical field of aerospace vehicle control, and relates to a composite intelligent guidance method for a reentry process of an aerospace vehicle. Comprising the following steps: constructing a three-degree-of-freedom dynamic model of the aerospace vehicle; establishing a strategy-based adaptive step length prediction correction method as a fusion sub-method; the intelligent guidance method based on the LSTM neural network is formed by changing an initial condition and utilizing prediction correction guidance to generate training data, and then building a proper neural network. Designing an adaptive weight adjustment strategy of LSTM neural network guidance and prediction correction guidance according to the remaining voyage, and calculating a composite heeling angle instruction in combination with the weight; structural modules such as a speed and height hierarchical control system, a terminal accurate control system, final-stage optimization control and tail-end emergency control are introduced to perform multi-stage correction on the heeling angle; the aircraft state is updated based on the kinetic model, and accurate guidance of the target position is achieved.

The invention relates to the technical field of intelligent power grid regulation and control, in particular to a multi-agent cooperation micro-grid cluster optimization method and device, and the method comprises the steps: constructing a power coordination control strategy based on distributed consistency based on a system architecture of a micro-grid cluster, so as to determine a distribution proportion; a hierarchical control system is designed while the power coordination control strategy is executed, so that a corresponding economic optimization dispatching instruction is generated according to the current frequency modulation stage; according to the method, the lowest system operation cost and the highest renewable energy consumption rate are taken as targets, an optimal power instruction is generated, a preset event trigger mechanism is utilized to perform communication, and the purpose of multi-agent cooperative micro-grid cluster optimization is achieved. Therefore, the problem that communication efficiency and control performance are difficult to consider at the same time under complex conditions due to the fact that interaction between micro-grids is carried out by adopting a communication mechanism with a fixed period in related technologies and the capability of adaptive adjustment on network topology changes and communication conditions is lacked is solved.

This invention discloses a distributed energy storage collaborative scheduling system for power systems, relating to the field of distributed energy storage optimization technology. It achieves quantitative assessment of the transient stability of the distribution network through transient energy functions, quantifies the system stability margin, and converts it into energy storage output commands. By constructing a two-dimensional hierarchical scheduling mechanism, it divides energy storage levels based on electrical distance and power sensitivity coefficients, and differentiates the allocation of near-end damping output and far-end balancing output to achieve optimal allocation of spatial resources. Simultaneously, it establishes a multi-timescale hierarchical control system, performing hierarchical control based on the response speed of energy storage devices, fully leveraging the advantages of fast and slow energy storage characteristics, and covering the entire transient process of a fault. Furthermore, it adopts a fully closed-loop adaptive scheduling architecture, with the energy storage cluster providing real-time feedback on its operating status, driving the system to dynamically adjust scheduling strategies until the distribution network returns to steady-state operation.

The invention provides a grid-connected stability margin hierarchical control system and a grid-connected stability margin hierarchical control method for new energy station oscillation prevention, which realize whole-field margin closed-loop control based on single-machine autonomy, and comprises a unit autonomous margin control module for performing approximate evaluation on the whole-field margin based on a unit margin model and unit local information, rapid margin control is carried out through a margin autonomous controller; the station margin correction control module is used for accurately evaluating the whole station margin based on the station margin model and the station global information, and correcting the autonomous margin control of the unit through a margin correction controller; and the energy storage online damping control module is used for carrying out self-adaptive active damping injection on the basis of oscillation information detected on line, so that oscillation emergency suppression is realized. The weak network adaptability of the new energy station and the active-disturbance-rejection stability capability of a time-varying operation condition can be improved by a unit autonomy-station correction stability margin hierarchical control framework and an oscillation prevention-emergency suppression control effect which is realized by matching with centralized energy storage.

The invention provides a UAV-InSAR-based magnetic levitation system multi-point cooperative reinforcement learning compensation control method, system and device and a medium, and the method comprises the steps: carrying out the high-precision surveying and mapping of a magnetic levitation line through employing an unmanned plane to carry a lightweight X-waveband interferometric synthetic aperture radar system, and constructing a track irregularity power spectrum model; a hierarchical control system is constructed, and an amplitude saturation controller on the lower layer generates a basic electromagnetic force control law according to the state quantity of the current suspension point; the upper-layer compensator based on reinforcement learning serves as an intelligent agent, interacts with an environment jointly formed by the suspension frame, the track and the amplitude saturation controller, carries out training by utilizing a standardized irregularity function obtained from a track irregularity power spectrum model, and outputs compensation control quantity for each suspension point; and superposing the basic electromagnetic force control law and the compensation control quantity to generate a total electromagnetic force control law of each suspension point, and carrying out active cooperative compensation and global stable suspension control on the suspension system. The comprehensive control performance of the suspension system is remarkably improved.

The invention provides a multi-energy flow collaborative park virtual power plant hierarchical control system, which adopts a cloud-side-end three-level hardware architecture, and realizes physical interconnection based on an alternating current and direct current hybrid micro-grid taking an electric energy router as a core. The system comprises a cloud scheduling platform deployed in a remote data center, a plurality of edge cooperative controllers deployed in a park, and various terminal execution devices connected to the AC / DC hybrid microgrid. The AC / DC hybrid micro-grid takes the electric energy router as a core, integrates various terminal execution devices through a multi-stage DC bus, and realizes DC routing and collaborative management of energy. Wherein the cloud scheduling platform, each edge cooperative controller and each terminal execution device are in communication connection in sequence to form a hierarchical information flow channel; and the electric energy router, the multi-stage direct current bus and each terminal execution device are physically connected in sequence to form a graded energy flow channel. The system is clear in structure, and the energy efficiency of the park energy system and the cooperative response capability to the power grid regulation instruction are improved.

The invention relates to the technical field of BMS management systems, and discloses a battery control method for a BMS management system, and the method comprises the steps: carrying out the topological connection of a plurality of battery packs, and obtaining a hierarchical control system composed of a main control unit, a plurality of sub-control units, and a plurality of battery packs; performing recursive least square parameter identification and battery charging and discharging power equalization optimization on the voltage data, the current data and the temperature data in the hierarchical control system to obtain a battery pack power distribution control instruction; performing Lyapunov stability analysis and sequence planning on the battery pack power distribution control instruction and the load fluctuation data to obtain battery pack safety constraint control parameters; the charging and discharging power of the battery pack is dynamically distributed according to the battery pack safety constraint control parameters, battery pack cooperative control data are obtained and fed back to the main control unit, and the overall control performance and operation efficiency of the BMS are improved.

This invention provides an adaptive assistive control method for a lumbar exoskeleton robot. A hierarchical control system is designed, where an upper-level parameter generator generates parameters for the fully assisted state mode in a middle-level finite state machine based on the lumbar flexion angle and plantar pressure values ​​at the lowest point of bending for different wearers. The middle-level finite state machine sets four state modes based on the flexion-extension angle, angular velocity, and plantar pressure of the human lumbar spine. Effective transitions between these modes are possible. Each of the four state modes sends different control parameters to a lower-level force-position hybrid controller, which can achieve single or mixed force-position control of the exoskeleton actuator. This control method fully considers the characteristics of human-machine compatible lumbar assistive exoskeleton operation, is simple to implement, and allows for personalized adjustments of assistive parameters based on the actual working conditions of different individuals, greatly improving the control state diversity and human-machine coordination of the lumbar assistive exoskeleton.

The utility model discloses a hierarchical control system of a high-voltage direct-hanging energy storage system and the high-voltage direct-hanging energy storage system. The hierarchical control system comprises a main controller, a split-phase controller and a unit controller, the main controller is connected with the split-phase controller through a high-speed communication optical fiber, and the split-phase controller is connected with the unit controller through a low-speed communication optical fiber. Through the exemplary embodiment, the number of equipment optical fibers is reduced, and the stability of long-distance communication is improved.

The application discloses a kind of drive-by-wire steering hierarchical control system and method, the system mainly includes upper H2 online optimization self-disturbance control, lower double sliding mode controller, corner distribution module, variable transmission ratio module and vehicle reference model;Upper controller is estimated vehicle yaw angular velocity and system collective disturbance in real time by configuring second-order linear extended state observer, H2 online optimization module minimizes with tracking error and control energy quadratic performance index as target, real-time dynamic optimization self-disturbance control law proportion gain;Corner distribution module is based on speed self-adaptive and executes multi-section steering geometry mapping;Lower controller adopts equal-speed approach law and introduces boundary layer saturation function to suppress chattering, realizes independent closed-loop tracking control to left and right steering wheels.The application considers the robustness, response speed and anti-chattering ability under different speed conditions, significantly improves the comprehensive control performance of drive-by-wire steering system.

The invention discloses an intelligent hierarchical control system and method for hydrogen production through alkaline electrolysis of water, and belongs to the technical field of industrial system control, and the intelligent hierarchical control system comprises an L3 adaptive power predictor, an L2 table look-up-hybrid constraint optimizer, an L1 life integrator-dynamic hot standby scheduler and an L0 dynamic arbitration bus; the power prediction precision and the load adaptability are improved, and meanwhile the hydrogen yield and the system energy efficiency are optimized; by optimizing a start-stop sequence and hot standby scheduling, the start-stop frequency of the electrolytic cell is reduced, and the service life of equipment is remarkably prolonged; multi-layer instruction conflicts are eliminated by means of a dynamic arbitration mechanism, and the stability of the system under complex working conditions and multi-constraint scenes is improved; and embedded real-time operation is supported, and operation requirements of fixed or mobile AWE equipment can be flexibly adapted.

The application discloses a multi-device cooperative hierarchical control system and method based on parameterized step sequences, which comprises an upper computer management layer, a monitoring layer and a PLC execution layer. The application separates action logic from parameters and adopts a three-level hierarchical architecture, so that production process switching only needs to modify the upper computer task queue parameters, and the changeover time is shortened from several days to 10 minutes. The application sets a multi-device space-time cooperation module, so as to realize accurate timing and space cooperation. The application constructs a standardized action logic block library and parameterized step sequence definition, so that the same step sequence can be adapted to different process parameters. The application integrates parameter verification, fault tolerance control and step sequence version management, so as to significantly enhance the reliability and recoverability of the system. The application adopts a standardized module interface and hierarchical architecture, so that a new device only needs to develop a corresponding logic block to access the system, thereby greatly improving the expansibility and integration convenience of the system.

Proposed is a self-optimizing, adaptive processing system and method thereof for grinding and / or crushing cereals and seeds. Measurement data for all relevant physical variables determining the milling process of mills at one or multiple geographical locations are measured and acquired in real time, compared with reference values, and used for autonomous operation adaption, system health check and automated repair of hardware by means of machine learning models. Machine learning output based on system and environmental measurements generates signals to steer steerable devices for maintaining product quality and to monitor and forecast abnormal system behavior in real-time to ensure uninterrupted production plant operation.

The invention discloses an auxiliary screen interaction system based on an intelligent terminal and a control method. The auxiliary screen interaction system comprises a main machine body, a main processing module, an auxiliary screen, an independent control module and a power management module. The auxiliary screen and the main machine body are integrally arranged, and the auxiliary screen is used for displaying an AI interaction interface and collecting touch input; the independent control module independently analyzes the touch instruction and executes the AI task when the main processing module is in the dormant state, and when the task exceeding the local processing capacity is detected, the main processing module is awakened through the communication link to cooperatively execute the task. The power management module automatically switches the power consumption mode according to the operation state of the auxiliary screen, and low-power-consumption independent display and interaction are achieved. The auxiliary screen is further provided with a sensing unit used for detecting the approaching state of a user and triggering a privacy display strategy, and therefore the interaction experience is improved while information safety is guaranteed. By constructing a hierarchical control system with independent operation of the auxiliary screen and cooperation of the host, autonomous response, energy consumption optimization and privacy protection of the AI function are achieved, the structure is compact, response is rapid, and the method is suitable for multi-form intelligent terminals.

Methods and systems are provided for optimizing energy management of an energy resource site. For instance, a hierarchical energy management system can provide optimized management of energy resource sites with large numbers of energy resources. In particular, the hierarchical energy management system can effectively control energy resources by allocating functionality using different tiers. For instance, one or more energy resources devices can comprise the lowest tier of the hierarchical energy management system. The next tier of the hierarchical energy management system can comprise one or more controllers that can manage the energy resource devices. The next tier of the hierarchical energy management system, a resource manager, generally manages the set of controllers.

The invention discloses a layered control system for a motion simulation platform and a control method thereof. The system comprises a task interface layer, a coordination control layer, a power driving layer and a physical execution layer, the task interface layer is composed of a task design and planning module, a modular function interface module and a real-time task management system; the coordination control layer is composed of an instruction analysis module, a precision motion control module, a data acquisition module and a data processing module. The power driving layer is composed of a power distribution protection module, an efficient driving circuit module and a functional circuit support module. The physical execution layer is composed of an orbital motion execution mechanism, a posture adjustment execution mechanism and a target satellite simulation motion mechanism; through division and cooperation of the four layers, high-precision simulation of complex multi-satellite confrontation tasks can be achieved, the system has the advantages of modularization, expandability, high reliability and the like, and the problems that an existing simulation system is insufficient in expandability, limited in control precision and poor in real-time response capacity are solved.

This invention discloses a hierarchical control system and method based on load management, comprising: a control unit, a main load circuit, a first switching unit, and a second switching unit; the first control terminal of the control unit is connected to the input terminal of the primary load circuit through the first switching unit, and the output terminal of the primary load circuit is connected to the primary load; the second control terminal of the control unit is connected to the input terminal of the secondary load circuit through the second switching unit, and the output terminal of the secondary load circuit is connected to the secondary load; the control unit is used to control the on / off state of the primary load circuit and / or the secondary load circuit according to the working state of the automated production equipment. The hierarchical control system provided by this invention, by classifying the load and selecting different levels of load to conduct according to different working states, allows for immediate resumption of production simply by restoring power upon restarting, greatly improving the overall efficiency of the production equipment.

The application provides a wind turbine safety system hierarchical control system and method, and relates to the technical field of wind power generation. The system comprises a signal input device, a logic control device and an execution device. The signal input device comprises at least a first-level signal input device and a second-level signal input device. The first-level signal input device is used to generate a first-level input signal and a reset signal. The second-level signal input device is used to generate a second-level input signal. The logic control device is used to control the first-level control loop to be disconnected through the execution device when it is confirmed that the first-level input signal meets a first preset condition, control the first-level control loop to be turned on through the execution device after the reset signal is received, and control the second-level control loop to be disconnected through the execution device when it is confirmed that the second-level input signal meets a second preset condition. The application improves the operation efficiency by performing hierarchical control on the wind turbine.

The hierarchical control system comprises an algorithm decision-making layer, a hardware abstraction layer and a real-time control layer, the hardware abstraction layer is in communication connection with the algorithm decision-making layer and the real-time control layer, and the algorithm decision-making layer is configured to execute a reinforcement learning algorithm and generate a control instruction; the hardware abstraction layer is configured to perform standardized format conversion on hardware data reported by the real-time control layer and transmit the converted hardware data to the algorithm decision-making layer, and convert a control instruction issued by the algorithm decision-making layer into a format which can be identified by the real-time control layer and transmit the converted control instruction to the real-time control layer, and the real-time control layer is configured to drive and manage hardware equipment. By means of the design, a control framework which is decoupled, high in real-time performance, capable of supporting multi-device synchronization and easy to expand is successfully constructed, and a solid technical support is provided for efficient adaptation of a reinforcement learning algorithm to a robot with a body and precise control.

This invention discloses a hierarchical control system and method with configurable state and event-driven chains, relating to the field of industrial automation control technology. The system includes a modular execution layer, a configurable aggregation engine, an event chain editor, and an event-driven execution layer. The modular execution layer completes atomic operations and publishes completion events through functional atomic modules. The configurable aggregation engine dynamically calculates and reports the system's aggregated state according to predefined rules. The event chain editor visualizes the orchestration process and generates independent configuration files. The event-driven execution layer loads files and is driven by event-driven processes. This invention achieves flexible state definition and visualized process configuration, realizing logical decoupling and improving system flexibility and maintainability.

The application relates to the technical field of power heat management control, and discloses a high-voltage variable-frequency power heat management control method for improving energy efficiency, which comprises the following steps: combining a solar high-temperature heat power generation system to obtain a low-dimension model through order reduction; using a Gaussian process regression and Kalman filtering algorithm to perform data fusion and reconstruct temperature field information of the system; establishing a multi-objective optimization function to dynamically adjust the weight optimization target; using an improved particle swarm optimization algorithm to generate a control parameter sequence, and adjusting the control decision in real time through iterative optimization; inputting the optimized control parameter into a multi-rate hierarchical control system to perform work in shifts; and detecting a fault type and switching to a corresponding fault-tolerant control mode. The application combines a multi-physical field coupling model and intrinsic orthogonal decomposition technology to establish an accurate coupling model of an electromagnetic field, a temperature field and a flow field in a high-voltage variable-frequency power generation system, the dimension of the model is reduced through order reduction, the calculation complexity is significantly reduced, and the calculation efficiency is improved.

An active thermal protection system for spacecraft during atmospheric entry or reentry includes a working gas containment tank, a master control valve, distribution manifolds, gas dispenser units positioned on the spacecraft exterior surface, and a shield control unit. The system exudes a working gas through the gas dispenser units to create a protective gas envelope around critical spacecraft surfaces during high-heating phases of atmospheric entry. This gas layer insulates the spacecraft from direct contact with superheated atmospheric gases, carries away heat, and deflects high-temperature plasma. By actively controlling gas flow through a hierarchical control system, thermal protection can be dynamically adjusted in response to changing conditions, substantially enhancing reusability while maintaining effective thermal protection.

The invention discloses a sliding rail type goods shelf metering system applied to a warehouse at the tail end of an electric power system and an electric power asset management method, and the sliding rail type goods shelf metering system comprises a goods shelf main body with a plurality of storage layers, and a layered control system which comprises sub-control modules arranged on the storage layers, the master control module is in communication connection with all the sub-control modules; a state sensing and indicating system; a plurality of mobile scanning systems; the sub-control module is configured to control the code scanning device to scan asset barcodes and bind and verify related information obtained by scanning; the master control module is configured to coordinate cross-layer tasks and shelf overall state management. According to the scheme, the sub-control module can bind and verify the asset information obtained through scanning, the sensing signal corresponding to the storage position and the state of the display module, and through consistency verification of multi-dimensional data, the accuracy of binding of the asset information and the storage position is guaranteed.

The application relates to the technical field of automobile control systems, and discloses a layered control system for a distributed drive electric automobile, which comprises a parameter acquisition and state identification module, the sending end of the parameter acquisition and state identification module is connected with the receiving end of a control target module, a mode layered controller and a whole vehicle management module respectively, the sending end of the control target module is connected with the receiving end of the mode layered controller, and the mode layered controller is in bidirectional communication connection with the whole vehicle management module. In the process of driving or parking of the electric automobile, a plurality of information such as the whole vehicle quality, the driving slope, the longitudinal vehicle speed, the road adhesion coefficient and the eccentric angle coefficient is acquired in real time, then the mode layered controller performs multi-mode layered control on the electric automobile through the transmission, and the braking performance of the automobile is maximized under the premise of meeting the safety of the electric automobile.

The present application belongs to the technical field of space flight vehicle control, and relates to a reentry process composite intelligent guidance method of space flight vehicle. The method comprises the following steps: constructing a three-degree-of-freedom dynamic model of the space flight vehicle; establishing a strategy-based adaptive step prediction correction method as a fused sub-method; generating training data by changing the initial conditions using the prediction correction guidance, then building a suitable neural network to form an intelligent guidance method based on the LSTM neural network; designing an adaptive weight adjustment strategy of the LSTM neural network guidance and the prediction correction guidance according to the remaining range, and combining the weight to calculate the composite bank angle command; introducing structure modules such as the speed and height hierarchical control system, the terminal precise control system, the last stage optimization control and the terminal emergency control to perform multi-stage correction on the bank angle; updating the vehicle state based on the dynamic model to realize accurate guidance to the target position.

An implanted automatic disorder response system is provided. In one embodiment, the implanted system directly pipelines therapeutic agents through pipelines from implanted reservoirs to focal points of chronic disease in accordance with a prescription program. In some embodiments, electrostimulatory and other end-effectors are available. In some embodiments, each morbidity or site thereof in comorbid diseases are assigned to an arm or channel of a hierarchical control system. Symptom sensors pass data through successively higher-level microcontroller nodes to generate a cross-channel, cross-morbidity view, which the control microprocessor uses to command remedial actions.