2004 results about "Master controller" patented technology

The invention discloses a circulating type gravity energy storage transportation system which comprises a master controller, an annular rail, a high-position storage yard and a low-position storage yard, a transportation train is composed of a plurality of carriages which are flexibly connected and arranged on the annular rail, a low-position running rail is arranged on the annular rail, the high-position running rail is provided with a linear loading and unloading section, and the low-position running rail is provided with a linear loading and unloading section. A plurality of grabbing parts are arranged on the high-position storage yard and the low-position storage yard and move back and forth between the loading and unloading section and the stacking area, and the hoisting device is electrically connected with the master controller. By means of the double-circulation design of train circulation operation and heavy block rapid loading and unloading, the core pain points that an existing gravity energy storage system is not coherent in operation and low in efficiency are effectively solved, and the energy storage efficiency is improved. And a reliable system solution is provided for realizing large-scale, high-efficiency and fast-response gravity energy storage commercialized application.

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

The invention discloses a dynamic monitoring-based deaerator water supply control method and system for a nuclear power plant, and relates to the field of deaerator water supply control, and the method comprises the steps: firstly, through a hybrid online identification algorithm, analyzing a historical valve position instruction and a water supply flow sequence in real time, and dynamically estimating the local gain and hysteresis width of a valve under the current working condition; then, the parameters identified in real time are utilized to carry out prospective compensation on the expected flow variation calculated by the main controller. In other words, the instruction amplitude is adjusted according to the estimated local gain, and it is ensured that consistent flow response can be obtained under different loads; meanwhile, when the instruction is reverse, the compensation amount is actively applied according to the estimated hysteresis width so as to eliminate the adjustment dead zone and oscillation caused by hysteresis. In this way, the nonlinear object of the valve is equivalent to a linear link with consistent response, and the stability and accuracy of the deaerator water level control system in the full working condition range are remarkably improved.

The invention relates to the technical field of natural gas treatment, and particularly discloses a turbine and motor double-drive magnetic levitation natural gas expansion recompression unit, system and method, and the turbine and motor double-drive magnetic levitation natural gas expansion recompression unit comprises a natural gas expansion machine, a high-speed synchronous motor and a natural gas compressor which are coaxially and rigidly connected; the magnetic suspension supporting system comprises an expansion side magnetic suspension bearing arranged at the output end of the natural gas expansion machine and a compression side magnetic suspension bearing arranged at the input end of the compressor, and is used for realizing non-contact suspension and torque transmission of the rotor; the electric control unit comprises an electric appliance cabinet and a pressure sensor, a converter and a main controller are arranged in the electric appliance cabinet, the converter is connected with a power grid and the high-speed synchronous motor, and the main controller dynamically adjusts the operation mode and power of the high-speed synchronous motor by taking the outlet pressure of the natural gas compressor as a control variable. The natural gas compressor is driven by the natural gas expansion machine and the highly synchronous motor, the unit with the reverse power generation function is adopted, the operation flexibility of the unit is improved, and the comprehensive utilization rate of energy is remarkably increased.

The invention belongs to the technical field of agent cooperative work control, and particularly relates to a multi-robot distributed cooperative formation control method under specified time. The method comprises the following steps: constructing a multi-robot dynamic model; constructing a communication topological structure of the multi-robot formation and determining an expected formation form; virtual springs are introduced between the robots to construct a potential energy function, and formation errors of a robot system are defined; designing a time-varying gain-based gradient descent distributed controller in a task level and a controller in a specified time in a joint level; estimating and compensating unknown parameters of the robot kinetic model in real time to obtain an online estimation parameter adaptive law based on time-varying gain; a formation master controller is obtained according to all the controllers and the online estimation parameter adaptive law, and multi-robot distributed cooperative formation control is achieved through the formation master controller; according to the method, the problem of rapid reconstruction of the formation form in complex dynamic environments such as dynamic obstacle avoidance of an unmanned aerial vehicle cluster and cooperative work of multiple mechanical arms is effectively solved.

The invention relates to the technical field of lasers, in particular to a laser heat management device and a control method thereof, the laser heat management device comprises a cooling substrate, the cooling substrate is internally provided with a micro-channel, the micro-channel comprises a main channel and a branch channel, and the main channel is used for circulating cooling water; the cooling substrate is provided with a detection control area, the detection control area is located at the joint of the branch channel and the main channel, the detection control area is provided with a phase change micro-valve and a detection assembly, the detection assembly is used for collecting temperature data, the phase change micro-valve comprises a phase change material and a flexible separation blade, and after the valve is opened, the phase change material generating phase change pushes the flexible separation blade, and the phase change micro-valve is connected with the detection assembly. The communication state of the main channel and the branch channel is controlled; the main controller is used for receiving the temperature data of all the detection control areas and controlling the valves of the corresponding detection control areas to be opened or closed according to the deviation between the temperature data and the target temperature. The temperature gradient of the laser can be reduced at least so as to ensure that the laser realizes a long-term stable working state.

The invention discloses a ship propulsion control system and method, and relates to the technical field of ship engineering.The ship propulsion control system comprises an acquisition module used for acquiring analog quantity signals during ship propulsion, and a main controller module used for receiving the analog quantity signals and generating a propulsion control instruction; according to the ship propulsion control system, two acquisition channels are arranged for analog quantity signals, a fault channel is rapidly detected and switched in combination with a self-checking mechanism, the fault channel can be rapidly detected, the fault channel can be rapidly switched, the fault channel can be rapidly detected, the fault channel can be rapidly switched, and the reliability of the ship propulsion control system can be improved. A digital quantity output channel fault is found in time and switched to a standby channel, a power supply and communication interface backup strategy is perfected, fault priorities are accurately divided, corresponding measures are taken, the strict requirements of modern ships for high reliability and high safety of propulsion control are met, and powerful technical support is provided for stable navigation of the ships.

The invention relates to the technical field of power equipment, and discloses a power electronic transformer redundant controller switching method, which comprises the following steps of: constructing a redundant control array to collect analog quantity data of a power electronic transformer in real time so as to obtain two groups of instantaneous interaction data; the master controller generates a control logic by any one group of instantaneous interaction data to control the operation state of the power electronic transformer, and sends the other group of instantaneous interaction data to the slave controller in a preset interruption period to dynamically update the data of the slave controller; through the redundancy design of the master controller and the slave controller, when the master controller breaks down, the master controller can be quickly switched to the slave controller in a control period, and the switched master controller continues the last updated instantaneous interaction data of the master controller before switching, so that the non-impact switching is realized, the fluctuation or shutdown risk of the system is avoided, and the reliability of the system is improved. The stable operation of the power electronic transformer is ensured, and the maintenance and shutdown loss caused by faults is reduced, so that the overall maintenance cost is reduced.

The invention provides a servo press control system and method based on a time-sensitive network, and relates to the technical field of intelligent manufacturing and industrial automation control, and the system comprises a time-sensitive network TSN which is used for providing global time synchronization and deterministic data transmission; a main controller of the multi-axis servo control unit is used for issuing a motion control instruction and a feeding and discharging control instruction through a TSN. A robot controller in the robot feeding and discharging unit is used for driving an industrial robot to execute plate taking and placing operation under the action of the feeding and discharging control instruction. The visual monitoring unit comprises an industrial camera accessed to the TSN and is used for collecting images and transmitting image data to the edge computing node through the TSN; the edge computing node is used for processing the image data to generate a compensation instruction and feeding back the compensation instruction through the TSN; and the upper monitoring system is used for subscribing real-time data published by the edge computing nodes, so that the control range of the servo pressure control system is expanded, and the convenience of data transmission and interaction is improved.

The invention discloses a full-link redundancy EMB control system and method without a main controller, and belongs to the field of braking systems, the full-link redundancy EMB control system comprises a front axle control module, a rear axle control module and four EMB actuators, the front axle control module comprises a first control module and a second control module, and the rear axle control module comprises a third control module and a fourth control module; the four EMB actuators are respectively mounted on four wheels of a vehicle, and the first control module, the second control module, the third control module and the fourth control module are respectively connected with the four EMB actuators; the front axle control module and the rear axle control module are both connected with the whole vehicle CAN of the vehicle, the front axle control module and the rear axle control module are connected through the internal CAN, and therefore the redundant design of vehicle braking can be achieved, and the reliability of vehicle braking is improved.

The invention provides a multi-modal fire-fighting robot cluster cooperation method and system, a medium and a product, and relates to the technical field of fire-fighting robots, and the method comprises the steps: obtaining own multi-modal sensing data collected by a fire-fighting robot cluster in real time, and generating a corresponding local environment model for each robot in the cluster; the working state of the current master control fire-fighting robot is monitored, if abnormity is found, the master control performance of a non-master control robot cluster (except the current master control robot) is analyzed according to the local environment models, and a new master control fire-fighting robot is determined; acquiring associated multi-mode sensing data collected by a new master controller from the local environment model of the slave robot cluster through a wireless ad hoc network, and generating a new global collaborative operation strategy according to the associated multi-mode sensing data; and distributing the new global collaborative operation strategy to each robot of the non-master-control robot cluster, and controlling the robots to carry out fire-fighting operation according to the strategy. The technical problem that a fire-fighting robot cluster is difficult to collaboratively carry out fire-fighting operation under the condition that a master control node fails in the prior art is solved.

The utility model relates to a power supply control device, power supply equipment and a logistics distribution system, and belongs to the technical field of power supply control. The device comprises a main controller; a plurality of slave controllers, wherein the first ends of the slave controllers are electrically connected with the master controller; the power supply devices are electrically connected with the second ends of the corresponding slave controllers; wherein when the master controller outputs a control signal for operating the first power supply device to the first slave controller, the first slave controller responds to the control signal and controls the first power supply device to work; wherein the first slave controller is one of the plurality of slave controllers, the first power supply device is one of the plurality of power supply devices, and the first power supply device corresponds to the first slave controller.

The invention discloses a predetermined time expansion state observer generation method and an observation error convergence method, which are applied to the technical field of aerospace, and comprise the following steps: constructing a controller for a second-order nonlinear system according to an all-drive system theory; converting the second-order nonlinear system according to the controller to obtain an all-drive system based on the main controller; wherein the main controller is a controller for controlling the all-wheel-drive system; designing a predetermined time expansion state observer based on the total disturbance and observation error of the all-wheel-drive system; wherein the predetermined time expansion state observer is an observer which limits the upper bound of convergence time of the observer based on a predetermined time parameter. Compared with most existing extended state observers which can only ensure asymptotic convergence and finite time or fixed time convergence, the observer generated based on the predetermined time extended state observer generation method can ensure that the observation error converges within the predetermined time, so that the converged predetermined time is more stable; and the user experience is improved.

A work environment adjustment system includes multiple instances of controllable office equipment located within an office space, each instance associated with a specific office location and including an activator for controlling states of the instance, at least one presence sensor for detecting user presence within each space associated with each instance, and a master controller linked to each office equipment activator to control activation of each activator to control a current state of each instance. The master controller is programmed to perform the steps of receiving sensor signals from the at least a first presence sensor, determining user presence at each space associated with each instance, controlling states at each of the instances independent of user input when the space associated with the instance is vacant, and enabling user control of the state of each instance associated with a space that is occupied by a user.

The utility model discloses an integrated AC charging module used for a charging pile system, comprising a driving mechanism and a coupling linkage mechanism which are installed in a main cavity of a housing structure, and a main controller which is detachably arranged in a side cavity, and the main controller is used for controlling an action instruction of the driving mechanism. The coupling linkage mechanism is provided with a plurality of groups of moving contacts and a plurality of groups of static contacts which share one set of driving mechanism, so that on-off of all phase lines and zero lines is controlled, multi-loop on-off control is realized, and the coupling linkage mechanism is simple in structure and convenient to operate. The alternating current charging module adopting the technical scheme realizes integrated installation of the driving mechanism, the coupling linkage mechanism and the main controller, has the characteristics of small size, large contact opening distance, low temperature rise, improved load capacity and convenience in maintenance, simplifies the installation process, enables the product structure to be more compact, reduces the cost, conforms to the miniaturization and integration trend of the product, and is suitable for popularization and application. The method is suitable for new energy charging piles.

The invention discloses an intelligent remote control system for bridge dehumidification, and the system comprises a physical environment layer, a sensing and execution layer, and a data communication and local control layer. The perception and execution layer comprises a perception layer and an execution layer, the perception layer comprises a plurality of sensors, the execution layer comprises a plurality of execution devices, and the plurality of sensors and the plurality of execution devices are arranged in the physical environment layer; the data communication and local control layer comprises a main controller, and the sensing layer and the execution layer are respectively connected with the main controller; the sensors collect environment parameter information in the physical environment layer and send the environment parameter information to the master controller, the master controller determines equipment operation information based on the environment parameter information and sends the equipment operation information to the execution equipment, and the execution equipment executes equipment operation based on the equipment operation information. And the environment parameter information of the physical environment layer is changed. The precision and efficiency of environment control can be improved, and the stability of the environment is guaranteed.

The invention discloses a multipath load control acquisition device and system and a load control acquisition method, the device adopts an architecture in which a master device and a slave device cooperate, the master device comprises a master controller, a master communication module, a user display interface and a master interface unit, and the slave device comprises a slave interface unit, a slave controller, an acquisition unit and a slave communication module. Flexible marshalling management is achieved by distributing electronic identity numbers to the breakers, load parameters and the states of the breakers are synchronously collected through the collection unit, a two-way data transmission channel is constructed by means of the master-slave communication module, a control signal is generated based on preset logic and real-time data through the master controller, and the state of the breakers is controlled. And the slave controller issues an instruction to drive the circuit breaker electric operation mechanism to realize millisecond-level rapid switching-on and switching-off operation. According to the invention, the problems of insufficient number of loops, lack of state monitoring, slow response and the like of an existing load control system are solved, and accurate, rapid and intelligent management of multi-path loads on a client side is realized.

The invention provides an intelligent motion control system based on multi-level expansion and multi-type motor compatibility, and aims to solve the technical problems that an existing motion control system is poor in expansibility and weak in motor type compatibility. The system comprises a main controller, a configuration memory and at least one detachable motor control module, the motor control module comprises a motion controller and a motor driver. The core of the method is that when a main controller is initialized, motor type parameters preset for all motor shafts are read from a configuration memory, and differential configuration is executed according to the motor type parameters: when a motor is of a first preset type, a motion controller and a motor driver are cooperatively configured; and when the motor is of the second preset type, only the motion controller is configured to output pulse / direction signals, and the motor driver is disabled. Through software and hardware decoupling, the number of shafts can be flexibly increased or decreased without changing hardware, various motors and encoders are compatible, the expansibility and deployment efficiency of the system are remarkably improved, and the development and maintenance cost is reduced.

The invention provides a multiphase hydrogen fuel flow and pressure cooperative control system, and belongs to the technical field of aero-engines, the multiphase hydrogen fuel flow and pressure cooperative control system comprises a liquid hydrogen tank, a liquid hydrogen pump, a heat exchanger, a pressure stabilizing valve, a regulating valve, a stop valve, a sensor and an engine main controller, the engine main controller receives engine state feedback and outputs a hydrogen fuel mass flow instruction; the pressure maintaining valve outlet pressure instruction calculation module and the pressure maintaining valve pressure closed-loop control module are arranged between the pressure maintaining valve and the engine, and the liquid hydrogen pump outlet pressure instruction calculation module and the liquid hydrogen pump outlet pressure compensation control module are arranged between the liquid hydrogen pump and the engine. The regulating valve outlet flow lead correction control module is arranged between the regulating valve and the engine; according to the scheme, the rotating speed of the liquid hydrogen pump, the opening area of the pressure maintaining valve and the opening area of the adjusting valve are cooperatively controlled, flow and pressure dynamic matching of the hydrogen fuel adjusting system under the non-stable working condition is achieved, and the flow control dynamic response performance of the hydrogen fuel adjusting system is improved.

The utility model relates to a double-chamber furnace burner gas energy-saving device which comprises a gas inlet pipeline, the gas inlet pipeline is provided with an air flow sensor and an air flow control valve, and a gas pipe is provided with a gas flow sensor and a gas flow control valve. The output end of the air flow sensor and the output end of the gas flow sensor are electrically connected with the input end of the controller, and the output end of the controller is connected with the air flow control valve and the gas flow control valve. The controller is provided with a master controller, the master controller is provided with a double-cross control module, and the master controller controls the air flow control valve and the gas flow control valve through the double-cross control module and the controller. The controller and the master controller are arranged, the controller transmits detection parameters of the air flow sensor and the gas flow sensor to the master controller, the master controller achieves double-cross control through the double-cross control module, and the controller adjusts the valve opening degree of the air flow control valve and the valve opening degree of the gas flow control valve through the double-cross control. And thus, energy-saving control is realized.

The invention relates to the technical field, and discloses an intelligent management method and system for oxygen inhalation, and the method comprises the steps: setting an oxygen flow mixing ratio and a quantitative parameter according to an expected treatment effect, and setting a simulation control for an operator to adjust the oxygen flow mixing ratio in real time; a plurality of sensors are connected to a main controller, data acquisition and state monitoring are carried out through the sensors, and oxygen flow acquisition and air mixing proportion are quantitatively displayed and charged; an air-oxygen proportional electromagnetic valve is arranged, a main controller receives a starting instruction, the air-oxygen proportional electromagnetic valve is controlled according to data collected by a sensor, the flow of mixed gas flowing through the proportional valve and the oxygen proportion are accurately controlled, and remote flow control and program control over oxygen supply are achieved. By means of the method, an intelligent management system for oxygen inhalation is achieved, the whole machine is easy to operate through intelligent control, it is guaranteed that the oxygen flow is adjusted in real time according to the needs of a patient, and the dynamic needs are kept consistent.

The invention relates to the technical field of cable fault positioning, in particular to a cable fault accurate positioning method based on multi-channel synchronous acquisition, which comprises the following steps: S1, constructing a multi-channel adaptive acquisition system which comprises a main controller, a multi-channel acquisition module, a synchronous control module and a data transmission module; s2, multi-channel data synchronous acquisition is carried out through the synchronous control module, wherein the multi-channel data comprises impedance data, temperature data, partial discharge signals and insulation resistance data; during use, through a multi-channel adaptive acquisition design, monitoring channels can be flexibly selected according to cable materials, operation years and environmental conditions, different aging fault characteristics are comprehensively covered, the fault omission ratio and the false alarm rate are reduced, different types of low-voltage cables are adapted, a synchronous scheme of constant-temperature crystal oscillator and hardware triggering is adopted, and the reliability of the system is improved. The method does not need to depend on a GPS / PTP time service module, is favorable for saving cost input, and eliminates environmental interference and single parameter false triggering.

The invention discloses a numerical control system feed-forward compensation method based on an edge controller, and the method comprises the steps: enabling the edge controller to obtain a machine tool instruction and a machine tool reality of a numerical control system in real time, calculating a tracking error, calculating a feed-forward compensation amount through an algorithm, transmitting the feed-forward compensation amount to the numerical control system, and installing a PLC function module in the numerical control system. And transmitting the received feed-forward compensation quantity to a servo feed-forward channel through a functional block, thereby realizing the feed-forward compensation function of the numerical control system. Through cooperation of edge calculation and a numerical control system, a feed-forward compensation algorithm is decoupled from a main controller, and high-precision real-time compensation is achieved through the parallel calculation capacity of an edge module. The design not only solves the contradiction between computing power and delay of a traditional system, but also supports multi-source data fusion and adaptive algorithm deployment through an open architecture, and provides a brand new path for performance improvement of a numerical control system.

The invention discloses a control method, device and equipment of a semi-dry method deacidification system and a medium, and relates to the technical field of household garbage incineration power generation treatment. Determining a prediction error value and inputting the prediction error value into a feedforward controller of the first PID controller; the feed-forward controller determines a lime slurry flow feed-forward compensation value according to the prediction error value; based on the lime slurry flow feedforward compensation value, a lime slurry flow error compensation value output by a main controller of the first PID controller and the actually measured lime slurry flow serving as a disturbance compensation value, a first control instruction used for controlling the opening degree of a lime slurry adjusting valve is output through an auxiliary controller of the first PID controller. The method is suitable for a control scene of a semi-dry deacidification process.

The invention belongs to the technical field of artificial intelligence, and discloses an actuator fault performance compensation method for a wind power plant grid-connected interconnection system, and the method comprises the steps: building a dynamic model of a nonlinear interconnection system containing a wind power plant; then, in combination with an actuator fault, constructing a state-space equation of a nonlinear system introducing a neural network; a composite observer with a dynamic event triggering mechanism is constructed, and estimation of the system state, external interference and actuator faults is achieved; according to the output of the composite observer, constructing a sliding mode safety compensation controller for realizing disturbance and fault compensation, and further obtaining an equivalent controller and a switching controller; and constructing a system master controller according to the equivalent controller and the switching controller. According to the invention, comprehensive estimation of the system state, external disturbance and actuator faults can be realized, active compensation of disturbance and faults can also be realized, and the system control stability is improved.

The invention provides a VR visual training method and system based on dynamic refraction adjustment, and is applied to the technical field of VR visual training, and the system comprises a display module, a focusing mechanism, a hybrid optical system and a main controller. The main controller generates a target diopter sequence changing along with time according to the training mode, and drives the optical lens group to move along the optical axis direction, so that the focal power of the system is physically changed; meanwhile, the virtual image depth is updated according to the diopter, and perspective parameters are adjusted and rendered, so that the position of the presented virtual image is consistent with the optical focus in real time; in the training process, the adjusting reaction speed and the adjusting lag amount are obtained through the clear recognition performance of the user on the sighting mark, the main controller conducts self-adaptive adjustment on the follow-up refraction change track based on feedback, and training stimulation is made to be matched with the instant adjusting ability of the user. A real, continuous and individualized adjusting stimulation environment can be constructed, and the effectiveness and safety of ciliary muscle training are improved.

The invention relates to an alternating-current and direct-current integrated power supply system and a control method, a power conversion unit comprises a parallel high-frequency rectification module, an inversion module and a communication power supply module, and a direct-current side is connected in parallel to a common direct-current bus; the energy storage unit realizes energy interaction between a storage battery pack and a bus through a bidirectional DC / DC converter, and a matched health monitoring circuit acquires internal resistance, temperature and voltage data in real time; the dynamic voltage support unit is formed by connecting a filter network and a transient suppression device in series and is directly connected with a bus to suppress voltage fluctuation caused by load abrupt change; the electromagnetic protection unit integrates an input-stage surge protector, a cabinet body grounding copper bar and an anti-interference device, so that the electromagnetic compatibility of the system is guaranteed; the intelligent control unit is combined with the communication bus through the main controller, and the functions of multi-mode power supply switching, energy storage unit temperature compensation charging and cooperative fault protection are achieved. The system meets the AC / DC load hybrid power supply requirement through the modular design and the cooperative control strategy, and improves the reliability and adaptability of the power supply system.

The invention relates to a direct-drive permanent magnet motor speed optimization control method based on multi-strategy self-evolution perception fusion and toughness control, and solves the problems of poor model adaptability, sensitive sensor fault, weak disturbance suppression and the like in the prior art. The adopted technical scheme is that the method comprises the following steps: establishing a self-evolution motor modeling system; on the basis of a motor modeling system, credibility evaluation is carried out on collected multi-source motor operation data, and a fusion state estimation result is generated in combination with a multi-scale residual weighting mechanism; constructing a cognitive main controller, and outputting a motor speed optimization control signal; and setting a light fault threshold value and a heavy fault threshold value, constructing a three-level toughness control mechanism, and performing graded response on faults to realize fault recovery. The method has the advantages that the motor speed control precision, the system stability and the self-adaptive capacity are remarkably improved.

The invention discloses a configuration drift detection and consistency coordination method during operation of a Changsafety chain, and relates to the technical field of distributed system configuration management, the method comprises the following steps: deploying a main controller and a query-side double container in an Operator controller Pod, setting a client tool and a hierarchical cache in the query-side, and obtaining on-chain configuration by the main controller through a localhost interface; in the Recencile cycle, configuration drift is judged through standardization processing and hash comparison, and a change source is recognized in combination with self-defined resource metadata and chain side change metadata; coordination is executed according to four synchronization modes of CR forcing, chain observation, bandwidth period CR forcing and manual arbitration; according to the scheme, the problems of state fuzziness, error coverage and the like caused by dual fact sources are solved, low-delay detection and flexible coordination are achieved, and configuration consistency during running of the long safety chain is guaranteed.

A detonator includes a substrate, a controller mounted to the substrate, and a sensor coupled to the controller to measure a temperature, pressure, acceleration or other environmental parameter of the detonator. The controller is configured to transmit the measured environmental parameter from the detonator to a remote master controller, execute an action in response to a value of the measured environmental parameter, and / or prevent or modify at least one detonator function in response to the value of the measured environmental parameter.