39 results about "Master slave synchronization" patented technology

The invention discloses a unified identity authentication and access control method for a power multi-service system based on a national secret algorithm. According to the invention, through systematic deployment of SM2, SM3 and SM4 cryptographic algorithms, a full-link security protection system from identity authentication to authority management is constructed. The unified identity authentication platform adopts a mode of combining a distributed micro-service architecture and a hardware encryption machine, so that the physical security of key storage and operation is guaranteed, and the stability and response speed of the system are improved through a master-slave synchronization mechanism and interface delay control. A multi-source identity information federation acquisition mechanism realizes real-time integration of static attributes and dynamic behavior data, abnormal characteristics of user operation can be accurately captured by combining a risk assessment matrix of an improved LSTM-attention mechanism, and an SM2 bidirectional dynamic authentication protocol is automatically triggered when a risk score exceeds a dynamic threshold. Closed-loop protection of collection-evaluation-authentication-auditing is formed, and security threats such as identity counterfeiting and authority crossing are effectively resisted.

The invention belongs to the technical field of forging and stamping, and particularly relates to a large-tonnage press machine servo master-slave synchronization system and a control method.The large-tonnage press machine servo master-slave synchronization system comprises a master transmission system, a slave transmission system and a control system, and each of the master transmission system and the slave transmission system comprises a power assembly and a transmission gear set; the power assembly is used for driving a press sliding block to do vertical reciprocating motion through the transmission gear set, the control system comprises a control unit and a man-machine interaction platform, the control unit receives signals of the man-machine interaction platform, and the master transmission system and the slave transmission system are driven through a master servo driver and a slave servo driver respectively. And the control unit can compensate the operation error of the master and slave transmission systems in real time, so that the consistency of the operation of the master and slave transmission systems is realized. The characteristics of the servo motor and a driving control system of the servo motor can be fully utilized, control over the large-tonnage press sliding block becomes more flexible, the control precision and action sensitivity of the large-tonnage press sliding block are improved, action cooperation of the large-tonnage press sliding block and an automatic feeding system is better, and then the production takt and the lifting efficiency of a large stamping production line are improved.

The invention provides an event triggering safety guarantee control method and device of a teleoperation robot system, and relates to the technical field of teleoperation robot system control. The method comprises the following steps: establishing a teleoperation system with dynamic uncertainty and time delay under security constraints; constructing a virtual reference system for each manipulator in the teleoperation system; based on a virtual reference system, designing event triggering safety guarantee controllers for the master robot and the slave robot respectively, and giving event triggering conditions updated by the master robot controller and event triggering conditions updated by the slave robot quadratic programming problem solving and controller updating; the master robot and the slave robot are synchronized, and it is ensured that the state of the mechanical arm of the slave robot is within the safety set of the mechanical arm of the slave robot. The present invention discusses security critical control issues for teleoperation systems with unknown dynamics, time delays and event trigger mechanisms. Under the design of the invention, the safety of the slave robot in an unknown environment is ensured, and master-slave synchronization is realized.

The invention relates to the technical field of multi-screen data transmission, in particular to a multi-screen synchronization method and system and a storage medium. The method comprises the following steps: collecting hardware state data of each display terminal in real time through a preset equipment communication protocol; constructing a display terminal topological relation based on the hardware state data, and generating a multi-screen connection state matrix; performing delay difference calculation on the master control terminal and the display terminal according to the multi-screen connection state matrix, and performing synchronization mode division based on the delay difference to generate a master-slave synchronization mode, a self-adaptive scaling mode and a redundant backup mode; and adjusting a synchronization control parameter based on the divided synchronization mode, performing dynamic refresh compensation on the master-slave synchronization mode, performing resolution adaptation on the self-adaptive scaling mode, activating the hot standby display terminal in the redundant backup mode, and executing data mirroring transmission. According to the method, the precision and the stability of multi-screen synchronization are improved by collecting the hardware state in real time, dynamically adjusting the synchronization mode and optimizing the control parameters.

The invention discloses a master-slave synchronization method based on Ethernet UDP (User Datagram Protocol) communication, which comprises the following steps: firstly, respectively establishing a communication node according to master and slave attributes of a CPU (Central Processing Unit) board, the master system is MASTER, the standby system is SLAVE, and the master and slave boards carry out data interaction through respective communication nodes; in order to ensure the consistency of a master cycle and a slave cycle, the message-oriented middleware realizes a barrier synchronization function, and the barrier synchronization adopts an SLAVE blocking and MASTER timeout waiting mechanism. The UDP based on the Ethernet is adopted for master-slave communication, and compared with CAN and RS-485 communication, the problems of high electromagnetic interference, low transmission rate and narrow broadband are solved. Master-slave data exchange is achieved through system software, and dependence of interlocking software on hardware is avoided. By setting a mechanism of slave system blocking and master system timeout waiting, master-slave synchronous operation is realized.

The utility model belongs to the technical field of surgical robots, and discloses a main control hand and a surgical robot. The problem that a master control hand of an existing surgical robot is insensitive to change of electric charge quantity of a hand clamp and cannot start linkage of a slave manipulator is solved. The main control hand comprises a hand clamp and a charge quantity processing module. The hand clamp is provided with at least two preset acquisition points for acquiring electric charge quantity change signals; the charge quantity processing module is provided with at least two charge quantity processing circuits, and each charge quantity processing circuit can correspondingly process a charge quantity change signal of a preset acquisition point of the hand clamp and then send the charge quantity change signal to the controller. When a hand gets close to the hand clamp, charge quantity changes generated at at least two preset positions are processed through the corresponding charge quantity processing circuits and then sent to the controller, and the controller transmits the charge quantity changes to the slave manipulator to achieve master-slave operation linkage, so that the situation that linkage signals cannot be accurately and rapidly transmitted due to small charge quantity change quantity at a single position is avoided; and the accuracy and timeliness of master-slave synchronous communication are realized.

The invention provides a regional controller double-system synchronization failure early warning method and device, and relates to the technical field of rail transit signal control, and the method comprises the steps: obtaining the current early warning event information sent by each board card in a regional controller; under the condition that the current early warning event information contains the master-slave synchronization failure alarm code, determining a current board card corresponding to the current early warning event information, and updating the number of continuous master-slave synchronization failures of the current board card based on the current early warning event information; and generating master-slave synchronization failure early warning information of each board card based on the number of continuous master-slave synchronization failures of each board card. According to the method and the device provided by the invention, the times of master-slave synchronization failure of each board card are respectively subjected to cumulative statistics, so that potential safety hazards are found in time; through grading early warning management, accidental instantaneous interference and continuous deterioration are effectively distinguished, the reliability, the maintenance efficiency and the safety of the system are remarkably improved, meanwhile, resource allocation is optimized, and the operation cost is reduced.

The application discloses an autonomous explosive disposal detection system and control method based on an edge full-stack cluster, aiming to solve the computing power bottleneck of the explosive disposal robot in a weak network environment and the reliability problem of grabbing in a complex scene. The system is composed of a four-legged mobile chassis and an execution mechanical arm carrying an airborne edge computing node, and the computing node integrates video processing, Web business hub and comprehensive control layer. The method constructs a full life cycle tactical closed loop: precise searching is realized through spatial tactical calibration, target tracing and macroscopic approach; a dual-mode fault-tolerant architecture based on confidence is innovatively proposed, autonomous grabbing confidence is calculated in real time after tactical anchoring, visual servo grabbing is performed when the confidence is high, the process is automatically suspended and seamlessly switched to a low-delay master-slave synchronous remote control mode when the confidence is low, and finally the safe transfer of explosives is completed. The application greatly improves the operation survival rate and safety of special robots in a broken network and unstructured environment.

The invention relates to the technical field of database optimization, in particular to a master-slave data synchronization optimization method and system.The method comprises the steps that a one-master multi-slave cluster of a database is created, and the cluster is provided with at least two slave nodes; creating a monitoring program, wherein the monitoring program can count the master-slave synchronization delay time of each pair; when the master node has a large data volume write-in operation or executes a large transaction, the slave nodes can be triggered to pull a large amount of data from the master node, at the moment, a synchronous delay threshold value is set, master-slave data synchronization is performed according to the threshold value, and the slave nodes with low synchronous delay are preferentially synchronized; according to the method, the influence of master-slave synchronization can be reduced to the greatest extent, and master-slave synchronization can be quickly completed by the slave nodes.

The invention relates to a method and a system for simulating internal noise of a slave clock in a master-slave synchronization network in the technical field of clock synchronization. The method comprises the following steps: establishing a first equivalent model and a second equivalent model; generating a first phase-locked loop output power spectral density function based on the first equivalent model, and generating a second phase-locked loop output power spectral density function based on the second equivalent model; calculating equivalent loop bandwidth conditions of the first equivalent model and the second equivalent model; a second phase-locked loop output power spectral density function is updated by using a loop bandwidth condition, a gain coefficient and a slave clock bandwidth of a second equivalent model are calculated by using a TDEV template and an MTIE template, and the second phase-locked loop output power spectral density function is updated for the second time to obtain a noise generation time domain function; the problem that the stability of the slave clock cannot be accurately simulated due to the fact that the MTIE corresponding to the generated time domain noise exceeds the limit of the MTIE template because only the TDEV template is considered and the MTIE template is not considered in the existing method for simulating the internal noise of the slave clock is solved.

The application provides an event-triggered safety guarantee control method and device of a teleoperation robot system, and relates to the technical field of teleoperation robot system control. The method comprises the following steps: establishing a teleoperation system with dynamic uncertainty and time delay under safety constraints; constructing a virtual reference system for each manipulator in the teleoperation system; based on the virtual reference system, designing an event-triggered safety guarantee controller for the master and slave robots respectively, giving an event-triggered condition for the master robot controller update and an event-triggered condition for the slave robot quadratic programming problem solution and controller update; realizing the synchronization of the master and slave robots, and ensuring that the state of the manipulator of the slave robot is located in the safety set of the manipulator of the slave robot. The application discusses the safety key control problem of the teleoperation system with unknown dynamics, time delay and event-triggered mechanism. Under the design of the application, the safety of the slave robot in the unknown environment is ensured, and the master-slave synchronization is realized.

The invention relates to a device and a signal synchronization system. For each device connected to the same bus, the device sends a device synchronization signal to the bus and detects a bus synchronization signal of the bus after the device synchronization signal is sent; wherein when the equipment synchronization signals of the equipment and the other equipment are low-level signals, the bus synchronization signal is a low-level signal; when the equipment synchronization signal of at least one of the equipment and the other equipment is a high-level signal, the bus synchronization signal is a high-level signal; then, under the condition that the detected bus synchronization signal is a low-level signal, performing signal synchronization processing on each device; wherein the signal synchronization comprises power frequency synchronization and carrier synchronization. Namely, all devices are connected to a synchronous bus, and power frequency and carrier synchronization is achieved at the same time. The master device and the slave device do not need to be distinguished, the defects of master-slave synchronization are overcome, the accuracy and stability of signal synchronization are improved, and the signal synchronization effect is improved; and the cost can be saved.

The invention relates to the technical field of carrier synchronization, in particular to a carrier synchronization method and a synchronization control device based on an FPGA (Field Programmable Gate Array), and the method comprises the three stages of phase preprocessing, phase verification and dynamic synchronization regulation: the FPGA captures Sync0 signals generated by an EtherCAT distributed clock, the Sync0 triggering moment is calibrated to an effective regulation interval in the preprocessing stage, and the Sync0 signals are subjected to dynamic synchronization regulation in the dynamic synchronization regulation stage; phase stability is confirmed through continuous ten Sync0 trigger detection in the verification stage, and phase synchronization and frequency compensation are executed based on the Sync0 in the dynamic adjustment stage; the device comprises an MCU (Microprogrammed Control Unit) and an FPGA (Field Programmable Gate Array) which are integrated with the ESC and form a bidirectional link transmission signal through an IO (Input / Output According to the invention, the EtherCAT distributed clock compensation technology and the FPGA nanosecond time sequence control capability are combined, the Sync0 synchronization precision can reach up to 20ns, the synchronization stability and anti-interference performance are improved through a three-level adjustment mechanism, the dependence of a single host is eliminated, the multi-node cooperation is supported, the problems of low precision, poor stability and limited expandability of a traditional master-slave synchronization method are solved, and the synchronization precision of the Sync0 is improved. The method is suitable for scenes of multi-axis synchronous control, distributed parallel inversion and the like.

The embodiment of the present invention discloses a message push method, a data acquisition method, a device, an electronic device and a storage medium, wherein the message push method comprises: detecting whether the target data has been synchronized to the slave database; if it is determined that the target data has been synchronized to the slave database, pushing an update notification message to the client, so that the client triggers an operation of acquiring the target data from the slave database based on the update notification message; wherein, after the target data is written to the master database, the target data is synchronized to the slave database through the master-slave synchronization mechanism. Through the technical solution of the embodiment of the present invention, not only the amount of pushed data is reduced, but also the target data finally acquired by the client can be ensured to be correct and valid.

The invention discloses an authorization authentication method, device and equipment and a storage medium, a distributed authorization mode is adopted, a Redis cache is taken as a core support, an authority strategy and bill metadata are uniformly stored in a Redis cluster, each node can directly read the Redis cache to independently complete authority verification and authorization decision, and dependence on concentrated nodes is not needed. And meanwhile, real-time synchronization and consistent updating of the authority data in the nodes of the whole network are ensured by relying on a master-slave synchronization and persistence mechanism of Redis. Even if part of the nodes fail or are attacked, other nodes can still obtain complete permission information through the Redis cache to operate normally, and the risk of system paralysis or permission out-of-control caused by a single-point problem is effectively reduced.

The present disclosure relates to a central control unit master-slave synchronization control method, device and control system, the method comprising real-time detection of state information and fault information of a master central control unit; automatic synchronization based on the state information and the fault information, which can realize synchronization consistency after seamless hot standby redundancy switching of the central control unit, effectively guaranteeing safe and reliable operation of the train.

The invention provides a virtual file system, a binlog-in-redo implementation method, electronic equipment and a readable medium, and relates to the technical field of databases. According to the scheme, a file management service responds to a redo log persistence request transparently transmitted by a database service layer through a virtual redo log service, and persistence operation is executed on physical files which are written into a redo log file block and a binlog file block in a staggered mode; the file management service also manages a shared memory, and the shared memory comprises a redo log cache and a binlog cache; the virtual redo log service provides an access path of the redo log cache, and the virtual binlog service provides an access path of the binlog cache. According to the scheme, writing of the redo log file block and writing of the binlog file block are combined into writing of the physical file, the transaction submission operation efficiency is improved, when it is confirmed that persistence of the binlog file block is completed, master-slave synchronization is triggered in an asynchronous notification mode, and the risk of master-slave inconsistency is avoided; the original storage format can be displayed to the outside through the virtual service, seamless transparent compatibility is achieved, the customization requirement is lowered, and the deployment cost is reduced.

The invention provides an ultra-wideband networking communication method and device based on time division and frequency division multi-system multiplexing, relates to the technical field of positioning navigation time service, and aims to solve the technical problems that the number of receivable nodes is small and adaptive time-frequency resource allocation cannot be realized in the prior art. The method comprises the following steps: setting the number of current frequency domain channels of a main node and a frame structure parameter of each frequency domain channel; according to the timestamp of the master node, performing clock synchronization processing on the clock signals of the plurality of slave nodes by using a master-slave synchronization mechanism; performing wireless communication signal transceiving processing on the master node and the plurality of slave nodes through the set frequency domain channel number and frame structure parameters, and evaluating the communication success rate of each slave node; in response to the condition that the communication success rate is lower than the success rate threshold, readjusting the channel number and the time slot allocation to obtain a target channel number and a target time slot number; and based on the target channel number and the target time slot number, each node is controlled to complete wireless communication signal receiving and transmitting in the target time slot number of each target channel.

This invention relates to the field of stainless steel plate leveling and rewinding technology, and provides an online leveling and rewinding collaborative control system and method for stainless steel plates. The system includes a collaborative control main unit with a built-in speed-tension collaborative control module, a plate shape-tension collaborative model, and a process parameter optimization model; a process control system including a leveling machine PLC control unit and a rewinding machine PLC control unit, which use a master-slave synchronous communication protocol, with the leveling machine PLC control unit as the master and the rewinding machine PLC control unit as the slave; and a field execution system including a leveling execution unit, a rewinding execution unit, and a sensing and detection unit. The collaborative control system and the process control system communicate via industrial Ethernet. The roll diameter is updated in real time by an adaptive roll diameter calculation unit, and predictive speed matching is achieved in conjunction with a speed feedforward unit. Accurate compensation during acceleration and deceleration is achieved using a dynamic tension compensation formula, effectively eliminating speed lag and tension fluctuations caused by changes in roll diameter.

The embodiment of the invention discloses a file processing method and device applied to a pipeline file and electronic equipment. A specific embodiment of the method comprises the following steps: generating a file segmentation message; performing master-slave synchronization confirmation according to the file segmentation message; responding to successful master-slave synchronization confirmation, and generating a main stream water file; taking the file segmentation message as a service message, and writing the service message into a mainstream water file; in response to the received snapshot message flow or the service request message flow, performing master-slave synchronization confirmation on the snapshot message flow and the service request message flow; and in response to successful master-slave synchronization confirmation, writing a snapshot message included in the snapshot message flow or a service request message included in the service request message flow into the updated main stream water file. According to the implementation mode, the fault risk that the storage space of a disk is possibly exhausted due to the fact that the file size of a continuously-increased single pipeline file is too large under the condition that the system continuously operates for 7 * 24 hours is reduced, and meanwhile subsequent pipeline file backup, migration and replay are facilitated.

The application relates to a method and system for simulating internal noise of a slave clock in a master-slave synchronization network in the technical field of clock synchronization, and comprises the following steps: establishing a first equivalent model and a second equivalent model; generating a first phase-locked loop output power spectral density function based on the first equivalent model and generating a second phase-locked loop output power spectral density function based on the second equivalent model; calculating a loop bandwidth condition equivalent to the first equivalent model and the second equivalent model; updating the second phase-locked loop output power spectral density function using the loop bandwidth condition, and calculating the gain coefficient and the slave clock bandwidth of the second equivalent model using a TDEV template and an MTIE template, and then updating the second phase-locked loop output power spectral density function again to obtain a noise generation time domain function. The method solves the problem that the existing method for simulating internal noise of a slave clock only considers a TDEV template and does not consider an MTIE template, so that the corresponding MTIE of the generated time domain noise exceeds the MTIE template limit, and the stability of the slave clock cannot be accurately simulated.

The application discloses a rigid tapping control method and device of a numerical control machine tool, the numerical control machine tool and a storage medium, and the method comprises the following steps: based on the starting angle of tapping of a tap of the numerical control machine tool, the encoder data of a spindle motor and the encoder data of a Z-axis motor are acquired, the forward movement process of the spindle motor driving the Z-axis motor is controlled by master-slave coupling control, the spindle motor drives the Z-axis motor to move forward to perform rigid tapping; after the Z-axis motor reaches the set tapping depth and the spindle motor and the Z-axis motor are both stopped, the encoder data of the spindle motor and the encoder data of the Z-axis motor are acquired again, the reverse movement process of the spindle motor driving the Z-axis motor is controlled by master-slave coupling control, and the spindle motor drives the Z-axis motor to move reversely to perform tapping exit. According to the scheme, the rotation amount of the spindle motor and the feeding amount of the Z-axis motor are determined by using the master-slave coupling control method when tapping and tapping exit, and the master-slave synchronization is improved.

This invention belongs to the field of electronic digital data processing technology and discloses a high-speed offset printing positioning control system for corrugated cardboard boxes based on machine vision. The synchronous acquisition module processes encoder pulse signals to convert rotation pulses into micron-level displacement digital trigger signals. The fusion positioning module synchronously extracts four types of positioning features and uses sub-pixel edge detection algorithms, adaptive weight scheduling, and random sampling consistency abnormal data removal algorithms to complete damaged features and filter invalid data, thereby calculating high-precision cardboard actual pose data. The error calculation module completes full-dimensional global error calculation and decomposes it into independent compensation parameters for each monochrome group. The feedforward control module builds a master-slave synchronous control architecture, combining feedforward control and fuzzy PID closed-loop control to synchronize the preceding error of each slave color group and compensate it in advance. The prediction compensation module constructs a dynamic delay model, uses a Kalman filter algorithm to predict deviations in advance, and issues synchronous compensation commands.

The invention is suitable for the technical field of data storage, and provides a time sequence data master-slave synchronization method and system, computer equipment and a computer readable storage medium, the method is applied to target computer equipment, the target computer equipment comprises an application module and a synchronization module, and the method comprises the following steps: obtaining to-be-synchronized data; the application module sends the data to be synchronized to the synchronization module; and the synchronization module writes the to-be-synchronized data into a plurality of target time sequence databases respectively. According to the method, after the to-be-synchronized data is obtained, the application module sends the to-be-synchronized data to the synchronization module, the synchronization module writes the to-be-synchronized data into the multiple target time sequence databases, independent synchronization of the to-be-synchronized data in the multiple target time sequence databases is achieved, the integrity and accuracy of data synchronization are improved, and the synchronization efficiency is improved. And the synchronization is more reliable.

The present invention discloses a method, system, device and medium for building a dual-active and master-slave synchronization environment, and the method includes: receiving configuration information through a front-end interface, and passing the configuration information to the back-end logic; after the back-end logic receives the configuration information, establishing a communication connection between the master node and the slave node through SSH based on the configuration information; after the master node and the slave node successfully establish a communication connection, obtaining the high-availability configuration files of the master node and the slave node and the database configuration files of the master node and the slave node respectively through the back-end logic; modifying the high-availability configuration files of the master node and the slave node and the database configuration files of the master node and the slave node, and restarting the respective high-availability services and databases after the modification is completed; synchronizing the database of the master node and the database of the slave node to build a master-slave synchronization environment. The present invention simplifies the master-slave environment configuration steps, and based on the configured error library, can quickly match error information and repair suggestions.

The invention relates to the technical field of data snapshots, and discloses a dynamic data snapshot efficient construction method based on dual-mechanism collaboration, which comprises the following steps: creating master-slave database instances, configuring slave database instances into slave nodes of the master database instances, and establishing a master-slave replication relationship; the master database instance comprises a source data table, and the slave database instance comprises a snapshot data table corresponding to the source data table; at a preset snapshot time point, pausing the master-slave replication process of the slave database instance, so that the snapshot data table stops synchronizing the data of the source data table, and a snapshot data table at the preset snapshot time point is obtained; renaming the snapshot data table to obtain a snapshot supply table; in the slave database instance, creating a backup data table with the same data structure as the snapshot supply table; copying total data of the snapshot supply table into a backup data table in a physical file copying mode to serve as a new snapshot data table, and reconstructing a master-slave synchronous link; and recovering the master-slave replication process.

The present invention discloses a master-slave redundant control system, which includes two controllers that can perform master-slave switching according to the working state; one controller works in the master state, and the other controller works in the slave state as a redundant backup and performs master-slave switching according to the working state. Each controller includes: a processor to implement the control logic of the master-slave controller; a communication interface as the transmission interface for the synchronization status message of the controller; an Ethernet interface as the transmission interface for the synchronization data message of the controller; and a logic device to implement the transceiver control of the master-slave switching and master-slave synchronization logic. The present invention uses a logic device to transmit redundant switching messages, and the processor does not participate in the transceiver of the messages. On the one hand, the logic device sends an interrupt to the processor after detecting a state change, reducing the load of the processor and improving the master-slave switching speed. On the other hand, the period of the message sent by the logic device is fixed, reducing the switching jitter of the redundant controller.

An embodiment of the present invention provides a data processing method, apparatus, electronic device, and storage medium. The method includes: invoking the master-slave synchronization interface of the Redis storage system to obtain an operation instruction for the key-value pair data; counting the data size of the data that has changed according to the operation instruction; storing the data identifier and the data size as target key-value pair data; determining, as abnormal data identifiers, the data identifiers corresponding to the data sizes that do not meet the preset conditions in the target key-value pair data; and determining, as abnormal key-value pair data, the key-value pair data corresponding to the abnormal data identifiers in the master database. Abnormal data can be found in the master database in real time, avoiding the expansion of problems and improving the stability of the master database operation.

The invention discloses a virtual master-slave synchronous control method and system for a multi-hook crane, and belongs to the technical field of crane automation control, the master-slave synchronous control method comprises the following steps: data acquisition: acquiring real-time height and running speed of each hook through an acquisition module; a virtual host generation and control module calculates a virtual height and a virtual speed; compensation adjustment: generating a speed compensation amount based on a proportional-integral model; synchronously executing, and adjusting the speed by a driving module through a speed smoothing algorithm; and safety monitoring: judging the height difference of the lifting hook in real time, and triggering three-level safety response. The system comprises an acquisition module, a control module and a driving module, single-point fault risks are eliminated, synchronization precision and system reliability are improved, different load working conditions are adapted, mechanical loss is reduced, hardware cost is low, upgrading is easy, and the method is suitable for large component hoisting scenes.

This invention discloses a hierarchical power line communication time synchronization method for ships, relating to the field of power distribution network technology. The method includes the following steps: triggering a time synchronization process via a host computer; performing primary synchronization using a multi-CCO pseudo-synchronization mechanism; performing secondary synchronization using a CCO-multi-STA master-slave synchronization protocol; detecting the STA synchronization status; if synchronization is complete, network-wide time synchronization is achieved; otherwise, a STA collaborative auxiliary synchronization mechanism is used for network-wide time synchronization. The hierarchical synchronization mechanism effectively improves synchronization accuracy and network scalability. Through delay scheduling, time-varying asymmetric delay modeling, and adaptive Kalman filtering, it suppresses delay jitter, asymmetric interference, and noise in the ship's power line channel, achieving microsecond-level high-precision synchronization. The introduction of STA collaborative auxiliary synchronization allows synchronization to be maintained through neighboring nodes even during momentary link interruptions, improving synchronization coverage and system robustness.