931 results about "Industrial control system" patented technology

The invention belongs to the field of artificial intelligence, particularly relates to an intelligent regulation and control system for an injection molding process of an industrial control system, and aims to solve the problem that high-precision cooperative regulation and control are difficult under material batch fluctuation, mold state change and environmental disturbance. The system comprises a multi-source sensing module, a dynamic modeling module, a self-adaptive decision-making module, an execution feedback module and a knowledge evolution module, and high-stability and high-adaptability intelligent regulation and control of the injection molding process are achieved through a mixed digital twin model integrating a physical mechanism and data driving, confidence-guided multi-objective optimization and continuous evolution of a process knowledge graph.

The invention discloses an industrial equipment fault detection method fusing a complex relation and space-time dependence, and belongs to the technical field of industrial anomaly detection, and the method comprises the steps: constructing a plurality of adjacent matrixes, carrying out the weighted fusion to form an enhanced adjacent matrix, and comprehensively and accurately describing the complex multi-dimensional relation between industrial equipment; designing a spatial-temporal feature extraction module, extracting spatial features in parallel by using a graph convolutional neural network and a random graph attention network, extracting time features through time convolution and a multi-head attention mechanism, and dynamically fusing the spatial-temporal features by means of a gating mechanism to generate graph-level features; a state judgment layer composed of a plurality of node-level binary classifiers and a voting mechanism are adopted to comprehensively judge classification results of all nodes, so that the stability and reliability of judgment of the overall state of the industrial control system are enhanced, and the risk of misjudgment is reduced; the problems of equipment relation modeling and multi-dimensional information fusion are effectively solved, features are extracted and fused more accurately, and the accuracy and adaptability of anomaly detection are improved.

The invention discloses a virtual-real combination-based power generation side industrial control system network security target construction method. The method comprises the following steps of: constructing a virtual-real combination target environment consisting of a physical equipment layer and a virtual model layer; the heterogeneous industrial control protocol between the physical equipment layer and the virtual model layer is analyzed, protocol semantic information is extracted, and a bidirectional dynamic mapping rule of a physical equipment state and a virtual model state is generated based on the protocol semantic information; based on a state change event of the physical equipment layer, according to a bidirectional dynamic mapping rule, synchronizing changed equipment state data to the virtual model layer in real time, and simulating protocol behavior logic corresponding to the equipment state data in the virtual model layer according to a security test requirement; and based on the attack instruction or the abnormal state signal generated by the virtual model layer, according to the protocol specification format of the target physical equipment, converting the instruction or the signal into an executable control command, and driving the physical equipment layer to execute an operation corresponding to the control command.

The invention relates to an industrial control system security policy adaptive configuration method and device and a readable storage medium. According to the method, a control instruction stream, a process variable sampling value and link layer message metadata are synchronously collected, an association hypergraph fusing network semantics, control semantics and physical semantics is constructed to represent a system state, and a sampling period is divided into a plurality of time slots with fixed lengths. In each time slot, self-supervised learning is utilized to extract a topology embedded vector group, and a system operation rule is represented. A robustness envelope interval is generated by calculating a statistical distance between a current time slot and a historical baseline, and is used for driving a reinforcement learning model to generate a security policy parameter set. And executing corresponding access control, traffic shaping and integrity verification operations in the next time slot, generating receipt vector feedback model update according to an execution result, outputting a micro-policy patch with a hash signature and a timestamp, and sending the micro-policy patch to the edge security gateway to realize deployment, thereby realizing closed-loop adaptive optimization of the security policy in the dynamic environment.

The invention provides an intelligent event identification method and system based on a high-speed camera, and the method comprises the steps: setting the collection parameters of the high-speed camera, and triggering the camera to collect a target scene video stream. And hardware acceleration decoding processing is carried out on the collected original video data stream, real-time environment illumination information of the environment illumination sensor is obtained, and dynamic brightness equalization processing is executed. And performing motion adaptive denoising processing on the video sequence. Geometric distortion correction is carried out on the image sequence through camera calibration parameters, sub-pixel-level displacement vectors and dense optical flow field data of a moving object are extracted, and multi-scale morphological features are extracted. And the features are fused to generate motion feature data, the data are processed through a spatio-temporal joint event classification model, an event identification result is output, the result is bound with a high-precision timestamp, and event identification information is output to an industrial control system display device in real time. According to the invention, the accuracy and real-time performance of event identification can be improved.

The invention discloses an industrial control data processing system and method based on an embedded real-time operating system, and relates to the technical field of industrial automation control, and the industrial control data processing system comprises a dynamic weight evaluation module, a resource elastic distribution module and a dual self-healing verification module; and the dynamic weight evaluation module is used for generating a dynamic weight value according to the task type, the data security level, the deadline margin and the historical execution abnormal rate. According to the industrial control data processing system and method based on the embedded real-time operating system, the task criticality is quantified in real time through the dynamic weight evaluation module, and the real-time response capability and the resource utilization efficiency of the industrial control system are improved in combination with elastic resource allocation driven by load prediction. A dynamic weight mechanism ensures that the emergency task can instantly preempt resources, and the problem of low-priority task blocking caused by traditional static priority scheduling is avoided.

The embodiment of the invention provides a security authentication method, device and system for a test platform, and a storage medium, and relates to the technical field of network security. The method comprises the following steps: performing fingerprint acquisition on virtual and real equipment to generate a unique identifier, dynamically slicing based on a software defined network to form an isolated test environment, and injecting a zero-trust access strategy associated with the fingerprint; and based on the zero-trust access policy and the device fingerprint, allocating a minimum permission through an attribute-based access control model, continuously evaluating device behaviors to calculate a dynamic trust score, and adaptively updating the permission according to the trust score. By constructing a full-process security certification system and through multi-dimensional mechanism cooperation, dynamic risk perception and timely strategy adjustment, fine-grained control of virtual and real equipment access in an industrial control scene is realized, the dynamic adaptability and risk resistance of a test platform in a complex network environment are improved, and the test efficiency is improved. Equipment access safety, authority distribution minimization and behavior monitoring continuity are ensured, and the safety risk of the industrial control system is reduced.

The invention discloses a digital twinning-based thermal heat supply system defense cooperative protection method and system, particularly relates to the technical field of industrial control system safety, and is used for solving the problems of hidden attack missing detection and response delay caused by splitting of energy flow and data flow in an existing protection mechanism. Physical-network behavior collaborative verification is realized by constructing a digital twinborn model, and precise protection is realized by quantifying coupling failure characteristics of energy flow and instruction flow. The method specifically comprises the following steps: collecting production data, industrial control logs and network traffic; constructing a digital twin model to simulate expected behaviors of equipment, communication and physical states; comparing and detecting abnormal data in real time; extracting a thermodynamic potential gradient characteristic quantity and a path integral characteristic quantity from the abnormal data; calculating a covariant difference value of the two characteristic quantities, and judging an external attack when the covariant difference value exceeds a threshold value; when an attack is triggered, a micro-isolation gateway is deployed, dynamic access control is implemented based on an equipment fingerprint, a user behavior sequence and an environment fingerprint, and an attack chain is blocked.

The invention relates to an industrial vision adaptive illumination compensation system and method based on Bayesian optimization, and the system comprises an environment perception module which is used for collecting the multi-dimensional environment state data of an industrial site in real time, and collecting an original image; the intelligent preprocessing module is used for enhancing the original image according to the parameter combination output by the Bayesian optimization module to generate an enhanced image; the model reasoning module is used for identifying and detecting the enhanced image through a bimodal algorithm to generate a detection result; the Bayesian optimization module is used for performing objective function calculation to generate an optimization objective score, performing iterative optimization according to the optimization objective score and a historical observation data set, generating a candidate parameter combination, and generating a global optimal parameter and a configuration template based on the candidate parameter combination and a current environment feature; and the industrial interface module is used for transmitting the global optimal parameter, the detection result and the multi-dimensional environment state data to an industrial control system. According to the invention, the efficiency and adaptability of illumination compensation are improved, and the data calculation amount is reduced.

The invention relates to the crossing field of industrial control system (ICS) safety and artificial intelligence, and particularly discloses a PLC high-interaction honeypot system based on multi-agent task splitting and RAG enhancement, which adopts a localized multi-agent collaborative architecture based on edge computing and is composed of a high-simulation equipment layer and an intelligent decision-making layer. The high-simulation equipment layer comprises a PLC dynamic mirror image, an HMI interface and a sensor data generator, and an active trapping environment is constructed through protocol fingerprint confusion and virtual and real data fusion technologies. The decision-making layer deploys a multi-agent task scheduling engine, integrates four kinds of agents including protocol analysis, behavior analysis, threat assessment and response generation, and realizes attack context perception and strategy dynamic generation based on a local RAG knowledge base. The load balancing agent dynamically allocates tasks according to equipment resources, and cooperates with offline knowledge update (USB flash disk encryption synchronization threat features) to form a closed-loop defense system, thereby ensuring physical isolation of an industrial network and realizing high-fidelity active defense.

The invention discloses an industrial control system for intelligent valve production, and belongs to the field of valve production industrial control systems, and the system comprises a multi-dimensional sensing module which is used for collecting the assembling angle, the assembling depth and the assembling height data in the valve assembling process in real time; the central control module is in communication connection with the multi-dimensional sensing module and is used for comparing the real-time assembly data with a deviation value of a preset process standard and generating an assembly qualification judgment result; the traceability analysis module responds to the assembly disqualification judgment result, and traces at least one process link defect causing assembly disqualification based on the distribution characteristics of the deviation values and the time sequence relevance; and the adjustment execution mechanism is controlled by the central control module and dynamically corrects the operation parameters of the assembly equipment according to the deviation value. According to the method, whether assembly is qualified or not can be analyzed in a multi-aspect and high-precision mode from the assembly angle, the assembly depth and the assembly height, and dynamic correction is conducted in time when the assembly is unqualified.

The invention relates to an intelligent scheduling management method and system for aluminum profile production, and the method comprises the following steps: obtaining and cleaning the original data of a to-be-produced order, and obtaining standardized preprocessing production order data; extracting production characteristic data in the orders, and performing priority ranking on the orders according to the production characteristic data; task time windows are distributed to all the process link devices based on the sorting result, and a task time window distribution table is generated; resource matching analysis between the equipment and the task is carried out based on the table, and an equipment-task adaptation degree matrix is obtained; finally, the adaptation degree matrix is sent to an industrial control system, the production line is driven to automatically execute corresponding machining tasks, and the technical problem that a traditional aluminum profile production line mostly depends on artificial experience to conduct task scheduling and equipment arrangement and is difficult to adapt to the market trend of multiple varieties, small batches and fast delivery time, and consequently the production efficiency is low is solved.

The invention belongs to the technical field of industrial automation and artificial intelligence crossing, and particularly relates to an AI industrial control intelligent master system and method based on deep learning. The system comprises an intelligent programming module, a real-time monitoring module, a fault management module, an optimization decision module and a man-machine interaction module. The system automatically generates a PLC program code through a deep learning model, monitors an equipment operation state through a multi-dimensional anomaly detection technology, analyzes a fault mode and a propagation path by using a knowledge graph and a graph neural network, optimizes process parameters and a maintenance strategy based on digital twinning and reinforcement learning, provides a 3D virtual interface and an AR remote cooperation function, and improves the reliability of the system. And intelligent management of the whole life cycle of the industrial control system is realized. The PLC programming efficiency is greatly improved, accurate anomaly detection and fault prediction are realized, system operation parameters are optimized, the service life of equipment is prolonged, the man-machine interaction experience is improved, and the problem of unified management of multiple brands of PLCs is solved.

The invention discloses a hydraulic engineering intelligent safety monitoring system based on an industrial control system, and belongs to the technical field of industrial control and intelligent monitoring. The system aims at solving the technical problems that existing hydraulic engineering monitoring data are heterogeneous, information is isolated, passive early warning is achieved, and intelligent control is difficult. According to the system, multi-source heterogeneous data are deeply fused, a high-fidelity digital twin model is constructed, an artificial intelligence algorithm is used for real-time analysis, prediction and decision making, and the system is linked with an industrial control system, so that sensing, analysis, decision making and execution closed-loop management of a water conservancy project are realized. The safety margin, the operation efficiency and the intelligent level of the water conservancy project are effectively improved.

An intrusion detection system can be embedded in an industrial controller to detect an attack on an industrial control system. The intrusion detection system can detect an attack by determining if there are anomalies related to the network traffic in the industrial control system and / or by determining if the devices (e.g., sensors and actuators) connected to the industrial controllers of the industrial control system are not operating within expected ranges. To assist in determining if the devices of the industrial control system are not operating properly, the industrial controllers can also be networked together in a peer-to-peer network that permits each industrial controller to share its state information with the other industrial controllers.

The invention relates to the technical field of security auditing, in particular to a security auditing method and system for an industrial control system, and the method comprises the following steps: aiming at a key control task, a communication task and a security task of a real-time operating system, collecting a period, a starting timestamp, a finishing timestamp, a central processing unit occupied time slice and peak memory usage amount data. According to the method, the period, timestamp, central processing unit occupation and memory usage data of a key task of a real-time operating system are collected, a task execution time boundary and a resource consumption envelope are set, and then an expected relation rule set of a task time sequence and resource consumption is constructed by applying historical data statistics and logic rule deduction; and meanwhile, the key length of symmetric and asymmetric encryption, initialization vector generation, hash algorithm selection, key derivation parameters and encryption operation context are stipulated, so that a comprehensive and specific ICS behavior specification baseline is established.

The invention relates to a test case generation method and system based on an industrial agent. The method comprises the steps that an industrial data set is acquired, and a system dependency model is constructed; generating a path coverage test sequence through the first agent; generating a boundary value test data set through the second agent; generating abnormal test scene information through a third agent; and generating a test case set based on the path coverage test sequence, the boundary value test data set and the abnormal test scene information. In conclusion, by constructing the system dependency model and utilizing the multi-agent collaborative analysis process logic path, boundary condition and dependency relationship, the multi-surface coverage of the industrial control system test scene is realized, the automation of the test case generation is realized, the effects of improving the generation efficiency and enhancing the comprehensiveness of the test coverage are achieved, and the method is suitable for industrial control system test. Especially for the coverage of boundary conditions, abnormal scenes and concurrent paths, the manual dependence is reduced, and the reliability and consistency of the test are improved.

The invention discloses a PLC scheduling algorithm based on a multi-core soft real-time operating system, and relates to the technical field of voltage control, and the algorithm comprises the following four steps: 1, starting a target industrial control system, completing hardware self-inspection, memory allocation and communication module starting, and sending an initialization ready signal after confirming that an assembly is normal; 2, according to PLC task functions and real-time performance, four types of standardized tasks are divided, priority levels are defined, sub-priorities are configured, a dependency relationship is identified, and a task chain is established; 3, counting the number of tasks and task chains, distributing resources by using multiple binding cores, and constructing a global ready queue to adapt to dynamic scheduling; and 4, monitoring an interrupt event through an interrupt manager, realizing high-priority task preemption by semaphores, and allocating tasks to corresponding CPU cores, so that the problems of soft real-time multi-core task preemption and data conflict are solved, the scheduling real-time performance and the data security are improved, the system failure rate is reduced, and the industrial control efficiency and stability are improved.

The invention belongs to the technical field of five-axis linkage numerical control machining, and particularly relates to a five-axis linkage numerical control machining dynamic error compensation system based on an industrial control system, which comprises a split-axis error detection module, a dynamic compensation model construction module, an industrial control real-time compensation execution module, an RTCP dynamic calibration unit and a self-adaptive learning optimization module. According to the invention, a real-time residual error monitoring and feedback mechanism is introduced to establish data connection with an original adaptive optimization module, so that parameter adaptive adjustment based on an actual compensation effect is realized, and the adaptability and compensation precision of the system under a complex dynamic processing condition are enhanced.

The embodiment of the invention provides a test case sample cutting method, device and system and a storage medium, and relates to the technical field of network security testing. The method comprises the following steps: constructing an industrial control system attack tactical library; wherein the tactical library comprises classified and arranged attack techniques and corresponding security attributes; performing information analysis and semantic analysis on the test case sample to generate structured data of the test case sample and / or function points in the test case sample; and cutting the test case sample according to the security attribute and / or the structured data and / or the function point to obtain a test fragment corresponding to the security attribute and / or the function point. According to the method, classification-based attack techniques and security attributes are cut by constructing a tactical library, key information can be accurately extracted and test intentions can be understood through information analysis and semantic analysis, redundant tests are avoided, cut test fragments can concentrate on specific security attributes or function points, the test coverage range is more accurate, and the test efficiency is improved. And the distributed security test effect is improved.

The invention discloses an industrial channel test method and system based on a serial port communication protocol, relates to the field of industrial control, and aims to solve the problems that an existing channel test system is single in connection mode, complex in deployment and low in efficiency due to dependence on manpower. According to the invention, the deployment process is simplified by supporting dual-protocol adaptive switching between an RTU mode (direct connection through a 485-to-USB converter) and a TCP / IP mode (wired / wireless network access); driving test logic by using a spreadsheet, pre-defining a Modbus address, a measuring range and a precision threshold value, automatically generating an instruction and acquiring data; and the integrated voice broadcast module feeds back a test result in real time, and prompts an abnormal channel and a processing suggestion when the precision exceeds the limit, so that single-person closed-loop operation is realized. The test result is automatically recorded to the spreadsheet, a structured report is generated, historical tracing and cross-platform data integration are supported, the test efficiency and reliability are remarkably improved, and the method is suitable for high-frequency channel verification of the industrial control system.

The invention relates to an embedded safety management method based on digital RMB industrial control equipment, and belongs to the technical field of industrial control system safety. The method comprises the following steps: during first deployment, carrying out information binding on an asymmetric key pair of the industrial control equipment and an equipment identity identifier to generate an equipment digital certificate; the digital signature is verified step by step from a private key of the asymmetric key pair during power-on starting through a safe starting process; when communication is established, performing digital signature on a communication key by calling a signature function of the hardware security module based on a challenge-response mechanism; when a digital RMB transaction is carried out, the trusted execution environment and the digital RMB hardware wallet module carry out secure interaction, and a transaction instruction is analyzed; during the operation period of the equipment, key data streams are continuously collected and analyzed by deploying an exception monitoring module. Reading, querying and related business transactions of the digital RMB on the industrial control equipment are achieved, and it is ensured that the identity is not forged and the instruction is not tampered.

The invention discloses a multi-element coupling heat supply monitoring system based on a meteorological condition prediction model, belongs to an industrial control system, realizes deep coupling of meteorological data and an equipment operation state, and solves a fusion error problem caused by fixed meteorological element weight in traditional monitoring to a certain extent. By establishing the efficiency evaluation model containing the environment compensation mechanism, the interference of external temperature fluctuation on equipment performance evaluation is eliminated, and the accuracy of the operation efficiency index is improved. A multi-dimensional health assessment system is adopted to integrate equipment maintenance data and real-time operation parameters, potential fault risks can be recognized in advance, and data support is provided for equipment preventive maintenance.

The invention relates to the technical field of industrial fault prediction, in particular to a pomegranate extraction production line fault self-diagnosis cooperative control system based on digital twinning. An electric inspection type monitoring method is mainly adopted to simulate the fault situation of a production line, a high-fidelity digital twin model is constructed to achieve dynamic mapping of a control system, the operation state of the industrial control system is continuously monitored, and when a fault is detected, an optimal maintenance regulation and control suggestion is given in time according to the fault level. The fault self-diagnosis cooperative control system comprises four core modules and is provided with an online verification unit, the system is periodically checked and tested, and closed-loop verification and evaluation of the performance of the control system are completed. Besides, the system also has the ability of autonomous learning, and the current fault can be recorded in the fault matching library after analysis and regulation, so that the analysis and diagnosis ability can be continuously optimized, the fault tolerance rate of the industrial production monitoring system is enhanced, and a solution and suggestions are provided for intelligent diagnosis of the industrial process.

The invention discloses a deterministic soft bus communication method for a virtualized industrial control system, and relates to the field of industrial automation. According to the method, a soft bus communication mode is adopted, so that the containers are interacted through the intermediate message bus, and direct connection does not need to be directly established; all data streams are managed by a unified bus, so that the number of connections is reduced; and meanwhile, a shared memory zero copy mechanism is adopted to optimize data transmission, and the data is directly shared between a producer and a consumer by using a shared memory and a direct memory mapping mode, so that unnecessary copy operation is avoided, the overhead of data transmission is reduced, and the communication efficiency is improved. According to the invention, a unified and efficient communication channel can be established among a plurality of industrial edge applications on the edge device, real-time communication among local containers is supported, automatic routing capability of remote communication is realized, and the communication requirements of high concurrency and high real-time performance in a virtualized industrial control system are met.

The invention relates to the technical field of industrial control systems, in particular to an ink path control system of a full-color printer, which comprises the following specific implementation steps of: measuring a plurality of physical quantities in a controlled physical process in real time, and outputting the physical quantities as state variables and external disturbance signals; receiving a state variable and an external disturbance signal, performing future state prediction through a nonlinear dynamic process model, and generating a prediction result; constructing a process performance index function, optimizing the performance index function through a sparrow search optimization algorithm based on a prediction result, and generating an optimal target set value; through a model based on Bayesian reasoning, parameters of a PID control law are updated in a self-adaptive mode according to external disturbance signals; the controller is used for receiving the optimal target set value and the adaptive PID control law parameters, executing the PID control law in combination with a preset undisturbed switching module, and generating a final control instruction; and receiving a final control instruction, and converting the final control instruction into driving signals acting on a plurality of physical actuators so as to realize closed-loop feedback control of the controlled physical process.

The invention discloses an industrial control protocol intelligent fuzzy test method and system based on a multi-agent large model, and relates to an industrial information security test method and system.According to the industrial control protocol intelligent fuzzy test method and system based on the multi-agent large model, the large model is enhanced by integrating the field of the retrieval enhancement generation (RAG) and the low-rank quantization adaptation (QLoRA) technology, and a multi-agent cooperation mechanism is combined; and full-automatic, high-precision and end-to-end fuzzy testing of the industrial protocol is realized. The system generates seed data meeting protocol specifications through the seed generation agent, the test case generation agent executes field, structure and semantic variation based on the seed data, efficient test cases are dynamically generated, a test strategy is optimized in real time through the feedback analysis and strategy adjustment agent, and the vulnerability discovery capability is improved. By dynamically adjusting the variation strategy and optimizing the generation of the test case, the coverage, the accuracy and the efficiency of the test are improved, and the security and the vulnerability detection capability of the industrial control system are remarkably improved.

The invention relates to the technical field of industrial network control, in particular to a side-cloud collaborative software-defined industrial control system, which comprises a side control action configuration module, a multi-source signal collection module, a state mutation recognition module, a cloud scheduling module and a collaborative control generation module. In the invention, through decoupling control action configuration, multi-channel signal acquisition, data label construction, sudden change state identification and a remote scheduling execution process and realizing standardized processing, an edge control basic instruction structure body can be quickly constructed based on an equipment state and a unified time sequence data label mechanism is established; in combination with the dynamic sensing ability of a sudden change state and a feedback point identification mode, efficient discrimination and rapid classification of key control points can be realized, task chain execution can be rapidly mapped to a key path and real-time regulation and control are implemented, rapid response to industrial field multi-source change and accurate issuing of a control instruction are realized, and the task chain execution efficiency is improved. And the real-time performance and the collaboration of the control process are greatly improved.

The invention discloses a data filtering method and system for a digital twin industrial control safety target range. The method comprises the following steps: firstly, marking an IP address of an industrial control system network in a segmented manner; feature extraction is carried out on the network behavior data of each IP segment, and splicing is carried out on the IP segment label to serve as a feature sample for constructing an industrial control network security identification model; a plurality of inverted residual modules with the same structure are adopted as core construction units, network behavior features in the feature samples are extracted and learned, and classification training is carried out; deploying the trained industrial control network security identification model to a pre-filtering module of a digital twin industrial control security target range, and carrying out classification, identification and filtering on network behavior data flowing in each IP segment in real time; and the misjudged sample is subjected to backtracking analysis, and the IP marking rule is updated. According to the technical scheme, the accuracy of network behavior data identification can be improved, so that the effectiveness of industrial control system simulation is improved.

The invention relates to the technical field of industrial control systems, and discloses an industrial and commercial energy storage battery management system and method.The industrial and commercial energy storage battery management method comprises the steps that a battery main loop switching device is controlled to superpose micro-disturbance signals, a voltage response sequence is collected in real time, the approximate entropy value of the voltage response sequence is calculated, the battery operation mode is determined according to entropy value threshold value comparison, and a corresponding control strategy is executed; according to the method, the electrochemical stability in the battery is directly perceived through order degree analysis of the voltage response sequence, model-free state recognition is achieved, meanwhile, a resource self-adaptive mechanism that macroscopic monitoring triggers microscopic calculation is constructed, the decision reliability is improved through electrochemical and thermodynamic signal cross validation under the complex working condition, and the method is suitable for large-scale popularization and application. And a dynamic control system with both real-time performance and safety is formed.