3622 results about "Master controller" patented technology

The invention relates to the technical field of mobile energy storage vehicles, and discloses an AI-based mobile energy storage vehicle running state monitoring and analysis system which comprises a main controller, an AI monitoring coprocessor and a state analysis coprocessor. The main controller calls a monitoring analysis instruction and sends the monitoring analysis instruction to the state analysis coprocessor; an AI monitoring coprocessor dispatches a state analysis instruction and processes multi-modal data; and the state analysis coprocessor analyzes the parameters to generate a reference monitoring signal, cooperatively monitors the battery temperature, the charging and discharging efficiency and the load fluctuation in real time, and generates an abnormal correction signal and a state control instruction in combination with an analysis optimization mode. The system realizes accurate analysis of multi-source data and dynamic control of the energy storage unit through data preprocessing, feature dimension reduction and deep neural network prediction, improves monitoring accuracy, dynamic adaptability and intelligent level, and ensures safe and efficient operation of the mobile energy storage vehicle.

The invention discloses a wireless temperature measuring device suitable for a semiconductor vacuum chamber, and belongs to the technical field of wafer temperature measurement, a device main body comprises an upper silicon wafer and a lower silicon wafer, a wireless temperature measuring assembly is arranged between the upper silicon wafer and the lower silicon wafer, and the wireless temperature measuring assembly is composed of a circuit, a temperature measuring device, a battery and a master controller. The circuit is arranged between the upper silicon wafer and the lower silicon wafer, the temperature measuring device, the battery and the master controller are all electrically connected with the circuit, and the upper silicon wafer and the lower silicon wafer are bonded through high-temperature bonding glue; during specific implementation, temperature measurement is performed on the interior of the wafer through the temperature measurement device, obtained temperature data are uploaded to a cloud end through the master control, the battery is a power supply of the temperature measurement device and the master control, the wireless temperature measurement device can eliminate partial pollution caused by wired temperature measurement during use, through holes are prevented from being formed in the processing chamber, and the processing efficiency is improved. And the manufacturing difficulty is reduced and the temperature measurement effect is good.

The invention relates to the technical field of solid state disks, and discloses a load collaborative scheduling method and system for a solid state disk, and the method comprises the steps: carrying out the data collection of a main controller of the solid state disk, and obtaining the original feature data; a Kolmogorov-Arnold neural network is input to carry out nonlinear feature transformation and linear combination operation, and a load prediction result is obtained; performing hierarchical processing to obtain a hierarchical scheduling model; constructing a multi-objective optimization function and carrying out constraint setting to obtain a constraint optimization equation set; performing convex difference function decomposition and augmented Lagrange function construction on the constraint optimization equation set, and solving through an alternating direction iteration method to obtain a scheduling decision scheme; according to the scheduling decision scheme, load balancing control is carried out on data write-in physical address allocation, data read cache scheduling and multi-channel parallel transmission, a real-time performance monitoring index is obtained, and the method realizes load collaborative scheduling of the solid state disk.

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 relates to the technical field of manipulator control, in particular to a multi-dimensional force touch sense self-adaptive grabbing dexterous hand control system and a multi-dimensional force touch sense self-adaptive grabbing dexterous hand control method. The control system comprises an upper computer, a dexterous hand master controller module, a finger controller module, a three-dimensional force tactile sensor module and an actuator module, wherein the finger controller module, the three-dimensional force tactile sensor module and the actuator module are independently configured for each finger of the dexterous hand; wherein the dexterous hand master controller receives an instruction of an upper computer and generates a control instruction corresponding to each finger; the three-dimensional force tactile sensor monitors contact data of a finger and an object; the finger controller calculates target positions of the servo motor at different time points based on the control instruction, the contact data and actuator state feedback, and generates a third control instruction; and after receiving the instruction, the actuator module adjusts the position of a servo motor to ensure that the dexterous hand completes self-adaptive grabbing according to a preset track and force. The grabbing force and speed of the dexterous hand can be adjusted in a self-adaptive mode according to different conditions, and the accuracy and stability of the grabbing action are ensured.

Embodiments of this invention discloses a split-phase output power adjustment system, adjustment method, and storage medium in a low voltage transformer area. The system includes adjustment power supplies, split-phase power adjustment modules, sub-controllers, a main controller. The adjustment power supplies connected to the split-phase power adjustment modules, and total power P of the adjustment power supplies complying with a relationship as follows: P=Pt=PG1+PG2+ . . . . PGn; wherein Pt is power required to comply with three-phase current unbalance adjustment of a distribution transformer, PG1, PG2, . . . PGn is power generated by each of the adjustment power supplies to compensate three-phase current unbalance in a transformer area; wherein the split-phase power adjustment modules are connected to lines of three phases A, B, and C and a neutral line N in the transformer area; wherein the sub-controllers are connected to the adjustment power supplies, and the sub-controllers communicate with the main controller to control power generated by each of the adjustment power supplies, so as to compensate the unbalanced three-phase current in the transformer area. Coordinated adjustment of multiple distributed power supplies realizes precise control of three-phase imbalance in the transformer area, which reduces line loss and improves power quality.

The invention relates to an air blower based on magnetic and gas combination axial force balance and a control method of the air blower, and belongs to the technical field of axial force regulation and control of air blowers. An axial air suspension bearing and an axial magnetic bearing are arranged in a main machine of the air blower, the axial magnetic bearing is connected with a magnetic bearing controller, and the magnetic bearing controller controls the axial position of a rotor by controlling the current of the axial magnetic bearing; an axial displacement sensor and a radial displacement sensor are arranged to detect the displacement of the rotor; and the main controller is used for controlling the starting and stopping of the axial magnetic bearing and the main machine based on the axial displacement and the radial displacement of the rotor, and sending out early warning. According to the magnetic and air combined axial force balance device, the axial magnetic bearing is used for providing active control force, the air bearing is used for providing passive support, the stability and reliability of a system are improved, and an important protection effect is achieved on core parts of an air blower.

An information transfer system may include: a master controller (XMC) configured to issue a command in the form of a memory protocol data packet, and wherein the master controller is configured to generate routing information indicating whether the memory protocol data packet is to be processed according to a first protocol or according to a second protocol different from the first protocol. The information transfer system may also include a slave controller (XSC) configured to receive the memory protocol data packet from the master controller, wherein the slave controller is configured to use the routing information to selectively cause the memory protocol data packet to be processed according to the first protocol or according to the second protocol.

The invention discloses a blowout preventer remote automatic grease injection system based on PID control and a control method, and relates to the technical field of grease injection, and the control method comprises the following steps: an initialization stage: automatically matching the specification of a choke tube according to the diameter of a cable, and preheating sealing grease to a set temperature; in the dynamic control stage, wellhead pressure and grease injection pressure are monitored in real time, pressure errors are calculated, the flow of a grease injection pump is adjusted according to a PID algorithm, and when the cable lowering speed suddenly changes, pressure fluctuation is inhibited in advance through a differential link; and according to the safety redundancy mechanism, when the main PID controller fails, the standby PID controller is automatically switched, and emergency locking is triggered when the wellhead pressure exceeds the limit. The flow of a grease injection pump is adjusted in real time through an incremental PID algorithm and a self-adaptive adjustment method, the grease injection amount is accurately controlled, pressure fluctuation is reduced, sudden change of the cable lowering speed is predicted through a differential link, the response precision is improved, stable operation of the system is ensured through a redundant controller and an emergency locking function, PID output is corrected through a dynamic temperature-viscosity model, and the reliability of the system is improved. The system service life is prolonged.

A modular multiport converter system includes a plurality of distributed controllers, associated with different ports of the system that are able to synchronize to ensure that power drawn from the system is equal to power supplied to the system with precise timing. The distributed controllers are able to receive a clock signal from a leader controller, or from a vice leader controller in the event that leader controller is unable to function.

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 provides a helicopter transmission system coaxiality detection and adjustment device and method, the device comprises a main controller 10, a laser emitter 20 and a laser receiver CCD 30, the main controller 10 comprises a computer 11 and a control box 12, after a control instruction on the computer 11 is sent, the control instruction is directly transmitted to the control box 12 through a USB interface; the laser transmitter 20 comprises a first laser transmitter 21 and a second laser transmitter 22, the first laser transmitter 21 comprises a first laser transmitter 211, a first adjusting flange 212 and a positioning cylinder 213, and the second laser transmitter 22 comprises a second laser transmitter 221, a second adjusting flange 222 and a positioning cylinder 223; the laser transmitter 20 is installed on a simulation output shaft flange plate of an engine or a main speed reducer, and the positioning cylinder 223 and the output end of the engine or the main speed reducer are installed in a positioning fit mode.

The invention discloses an ANN accelerator system based on multi-core storage and calculation integration and a control method, and the system comprises an on-chip network module which serves as an interconnection channel between storage and calculation integration cores and is used for combining calculation results of the multiple storage and calculation integration cores; the synchronous main controller is used for sending an instruction to the decoder according to the process that the network-on-chip module combines the calculation results of the plurality of storage and calculation integrated cores; the decoder is used for receiving an instruction of the synchronous main controller and converting the instruction into a configuration parameter; the configuration register is used for storing configuration parameters and transmitting the configuration parameters to the asynchronous control module, the on-chip routing module and the storage and calculation integrated core; and the asynchronous control module is used for receiving the configuration parameters transmitted by the configuration register and performing time sequence control on the process of merging the calculation results by the network-on-chip module according to the configuration parameters. According to the method, storage and calculation integrated data flow control with reconfigurable parallelism is optimized, and the efficiency of neural network reasoning is greatly improved.

The invention discloses a self-adaptive inclined excavator bucket system and a control method thereof. The self-adaptive inclined excavator bucket system comprises a bucket, an inclination sensor, a laser distance measuring sensor, a soil characteristic sensor, a main controller and an executing mechanism. The inclination sensor is installed on the rear side of the bucket and used for monitoring the inclination angle of the bucket in real time. The laser distance measuring sensor is installed on the front edge of the bucket and used for measuring the distance between the bucket and the ground. The soil characteristic sensor is installed on bucket teeth of a bucket and used for obtaining physical characteristic information of soil in real time. The main controller is electrically connected with all the sensors and the executing mechanism and is used for receiving and processing data of the sensors in real time and sending a control command to the executing mechanism; the executing mechanism comprises a hydraulic system and a servo motor and is used for receiving a control command of the main controller in real time and automatically adjusting the inclination angle and the digging force of the bucket. The inclination angle and the digging depth of the bucket can be automatically adjusted according to different conditions, and the working efficiency, precision and safety are improved.

The embodiment of the invention provides a control method, a control device and a battery management system. The complexity of control logic of an energy storage system can be reduced with low cost. The control method is applied to the energy storage system, the energy storage system comprises multiple levels of controllers, and the control method comprises the steps that a first master controller receives first identification information, the first identification information is used for indicating that the first master controller is a master controller in first-level controllers, and the multiple levels of controllers comprise the first-level controllers; based on the first identification information, the first master controller controls an energy storage system and / or a first slave controller, and the first slave controller is a slave controller in the first-level controller.

The invention discloses a shunting automatic driving and protection technology in a full operation scene. In order to improve the safety and efficiency of shunting operation, the shunting operation system is composed of a shunting protection and auxiliary driving platform, a vehicle-mounted intelligent sensing platform, an intelligent management and control data platform and a communication subsystem. The shunting protection and auxiliary driving subsystem comprises a vehicle-mounted subsystem and a ground subsystem, the vehicle-mounted subsystem is provided with a shunting auxiliary driving vehicle-mounted host and the like, and the ground subsystem comprises a host unit and the like. The vehicle-mounted intelligent sensing subsystem can detect obstacles and give an alarm. The intelligent management and control data platform is divided into four layers including a data layer and the like. And the communication subsystem realizes communication of each module. The shunting auxiliary driving vehicle-mounted host is provided with a host and an expansion unit which are consistent in structure, the host and the expansion unit comprise a main controller and the like, two links are established between the units through communication board cards, and the controller of one system can use adjacent communication board cards. The system is used for intelligent management of railway traffic, and has the advantages of safety, high efficiency, full-scene applicability and the like.

An autonomous driving method, an auxiliary controller, a main controller, an autonomous driving system, an electronic device, and a computer-readable storage medium, which relate to the technical field of autonomous driving. The method is applied to the auxiliary controller and comprises: acquiring state monitoring information, wherein the state monitoring information is information that is obtained by monitoring the operation state of a main controller; and if it is determined, according to the state monitoring information, that the main controller operates abnormally, controlling the operation state of an autonomous driving vehicle.

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.

A modular continuous track system for a utility vehicle is disclosed. The modular continuous track system may include a first crawler unit comprising a first electric motor and a first track mounting system configured to couple the first crawler unit to a first utility platform. The modular continuous track system may include a second crawler unit comprising a second electric motor and a second track mounting system configured to couple the second crawler unit to the first utility platform. The modular continuous track system may include a control system configured to control operation of the first crawler unit and the second crawler unit comprising: a first motor controller electrically coupled to a main controller and the first electric motor, a second motor controller electrically coupled to the main controller and the second electric motor; and the main controller.

The invention relates to the technical field of vehicle engineering, and discloses a vehicle transverse stability coordination control system based on sensing fusion, which comprises a main controller, a sensing fusion coprocessor and a transverse control coprocessor. The main controller calls and sends a stability control instruction according to the driving state; the sensing fusion coprocessor schedules a transverse control instruction in multi-source information fusion; the transverse control coprocessor analyzes the parameters to obtain basic control signals, dynamically monitors transverse acceleration, yaw velocity and tire slip angles, generates and outputs compensation signals through mode adjustment such as dynamic coordination function bypass selection and global or local parameter dynamic coordination, and controls an actuator after being fused with the basic signals. The system integrates a data fusion module, a state evaluation module and a multi-strategy dynamic adjustment module, multi-source information accurate fusion and multi-parameter cooperative control are achieved, the transverse stability and driving safety of the vehicle under the complex working condition are improved, and the method is suitable for the field of vehicle engineering control.

The utility model discloses an integrated control high-voltage cascade energy storage device, which comprises an integrated main controller and three single-phase energy storage mechanisms, and the three single-phase energy storage mechanisms adopt a chain type three-phase star topology structure. Each single-phase energy storage mechanism is formed by cascading a plurality of PCS power modules, the direct current sides of the PCS power modules are connected with battery clusters in parallel, and each battery cluster is composed of a plurality of battery packs; the controlled end of each battery pack is connected with one single battery management unit, each energy storage chain link is controlled by one integrated cluster unit control module, and information interaction is carried out between each integrated cluster unit control module and the integrated main controller through an optical fiber ring network. According to the utility model, the information interaction between the battery cluster and the power unit and between the integrated cluster unit control module and the integrated main controller is realized, the control logic of the information interaction between the control part of the power conversion system PCS and the battery management system BMS is simplified, the response speed is improved, and the stable operation of the energy storage device is ensured.

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 discloses a full-automatic infrared moxibustion physiotherapy system based on image processing and a positioning method, and relates to a full-automatic infrared moxibustion physiotherapy system and a positioning method. The invention aims to solve the problems of heat concentration, lack of personalized treatment on different parts, inaccurate acupuncture point positioning and slow response in the prior art. The system comprises an image processing module, a mechanical arm control module and a man-machine interaction module. The image processing module is composed of a camera and an image processing platform. The mechanical arm control module is composed of a main controller, a mechanical arm, a temperature sensor, a distance sensor and an infrared moxibustion tail end. The man-machine interaction module is an interaction system with a graphical interface, the interaction system with the graphical interface integrates a real-time image loading function and an automatic acupoint positioning method function, communicates with the mechanical arm main controller through a wireless serial port, sends a G code control instruction and receives and displays position information of various sensors and the mechanical arm. The invention belongs to the technical field of medical instruments.

The invention relates to the technical field of electromagnetic compatibility testing, in particular to an electromagnetic compatibility testing device and method for the shaft current of a hub motor, and the device comprises a shielding chamber, a system master controller, a dynamometer, a hub motor tool and a testing system. A dynamometer, a hub motor tool and a test system are arranged in the shielding chamber; the hub motor tool is used for installing and fixing a hub motor to be tested. An output shaft is designed at the rotor end of the hub motor, and the hub motor is connected with the dynamometer through the output shaft. The test system is used for measuring the shaft current of the hub motor; the system master controller is used for controlling the wheel hub motor to operate under various working conditions and collecting shaft current under each working condition; and obtaining an electromagnetic compatibility test result according to the shaft current. The electromagnetic compatibility and reliability of the hub motor and the control system thereof can be improved.

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.