62 results about "Multi machine" patented technology

The invention relates to the technical field of digital twinning, in particular to a multi-machine running-in test distributed control system and method based on digital twinning. The method comprises the steps that a sensing execution unit collects equipment operation state data based on a multi-source sensor module and carries out preliminary data processing and detection; the digital twinning unit receives multi-dimensional sensing data of the sensing execution unit based on a dynamic twinning modeling module, establishes an equipment state model, and performs simulation verification and parameter optimization on a control strategy through a Q-learning strategy to obtain optimized control parameters; the intelligent control unit constructs an optimal decision-making model of multi-machine cooperative control based on a cooperative decision-making module, adjusts parameters of an execution mechanism in real time through a PID control algorithm and feed-forward compensation, and generates a self-adaptive control instruction; and the fusion analysis unit constructs a multi-dimensional equipment operation knowledge base based on the knowledge graph module, and generates global optimization parameters through a multi-target genetic algorithm.

The invention provides a grid-connected and off-grid switching method of a multi-machine parallel energy storage system, a controller and the energy storage system, and belongs to the field of energy storage. The energy storage system comprises a plurality of energy storage converters connected in parallel, and the method comprises the steps that when the energy storage system works in an off-grid mode, if it is detected that a power grid recovers to be normal, all the energy storage converters are controlled to track the voltage of the power grid, and the off-grid voltage of all the energy storage converters and the voltage of the power grid are kept synchronous; when it is detected that the off-grid voltage of each energy storage converter and the grid voltage are kept synchronous, a grid-connected switch is controlled to be closed; after being connected in parallel, the energy storage converters are connected with a power grid through a grid-connected switch; and controlling the working loop of each energy storage converter to be switched from an off-grid loop to a grid-connected loop. According to the invention, automatic switching from the off-grid state to the grid-connected state during parallel operation of a plurality of energy storage converters can be realized, and power-failure-free switching from the off-grid state to the grid-connected state can be realized.

The invention provides a fault calculation method and system for a power distribution network containing a distributed inverter power supply, and the method comprises the steps: carrying out the complete modeling of a control system, building a coupling model of current inner loop control and a filter circuit, representing the nonlinear characteristics of a control process and the coupling characteristics between state variables, and carrying out the calculation of a fault. An inverter power supply grid-connected system is described as a mathematical form of a discrete function, state variables of the system in the fault process are calculated by solving discrete segments of the state variables of the system, finally, the provided method is used for calculating the state variables of the system before and after the fault in different scenes of single-machine grid connection and multi-machine grid connection, and through simulation comparison, the state variables of the inverter power supply grid-connected system are calculated. And the feasibility and effectiveness of the method are verified. According to the method, the technical problems of high limitation, difficult analysis and the like, and limited applicability and feasibility are solved.

The invention relates to the technical field of diesel generating sets, in particular to a master control loop of diesel generating set equipment. The system comprises a data acquisition module, a model creation module, a dynamic adjustment module and a multi-machine parallel module. Power change data of a load and rotating speed data of an engine are acquired through the data acquisition module, a long-short-term memory network model for predicting the rotating speed of the engine is constructed by utilizing the model creation module, and the fuel injection quantity of the engine is calculated by utilizing a PID control algorithm according to the predicted rotating speed value of the engine through the dynamic adjustment module. According to the change of load power, the fuel injection quantity of an engine is dynamically adjusted, the rotating speed of the engine is regulated and controlled to be in a stable state, it is guaranteed that a generator outputs stable voltage, a multi-machine parallel module controls the output power and frequency of each unit through a droop control method, the frequency is automatically adjusted, and phase embedding is synchronous; and multi-machine parallel loading is realized.

The invention discloses a multi-machine multi-card distributed training optimization system and method oriented to a credential heterogeneous environment, and relates to the technical field of distributed training. In order to solve the defects existing in distributed training in a credential and credential heterogeneous environment, the system comprises an application layer for receiving a training task; the core system layer comprises a self-adaptive task scheduling module, a hybrid communication topological optimization module and a dynamic check point and elastic recovery control module, and the scheduling module generates a performance portrait and an optimal scheme based on a training task and adjusts the scheme according to a node fault; the optimization module executes the scheme, firstly detects node topology, constructs a hierarchical path, loads and initializes an optimal communication rear end for target equipment, and synchronizes the path to the target equipment; the control module periodically stores a complete training context and realizes reliable recovery of a training process; the credential hardware abstraction layer is used for providing a uniform interface for realizing underlying resource access and data acquisition; and the hardware resource layer comprises heterogeneous computing nodes and an RoCE network switch.

The invention provides a group black start method and device of a multi-machine parallel energy storage system and the energy storage system, and belongs to the field of energy storage. The method comprises the following steps: acquiring a positive sequence feedback current average value, a negative sequence feedback current average value and group black start given voltage of the energy storage system; performing current-sharing control based on the positive-sequence feedback current average value and the negative-sequence feedback current average value to obtain a positive-sequence average current control quantity and a negative-sequence average current control quantity; performing positive sequence voltage control based on the positive sequence average current control quantity and group black start given voltage to obtain given output current; based on the negative sequence average current control quantity and the given output current, current control is carried out, and a target control quantity is determined; and controlling the corresponding energy storage converter to perform synchronous black start based on the target control quantity. According to the invention, synchronous black start of each energy storage converter can be realized, sequential start is not needed, a lot of time can be saved, and the power of the energy storage system can reach an expected output level.

The invention belongs to the field of unmanned aerial vehicle control, and relates to a multi-vehicle adaptive command and control coding terminal and a processing method for medium and large unmanned aerial vehicles. Hardware comprises a case, a power supply, a central processing unit, a memory, a network interface and the like. The logic processing comprises an instruction coding template, an instruction mapping dictionary, a communication channel, a frame coding unit, a channel scheduling unit, a state detection feedback unit, a cascade management unit and the like, traditional data coding is supported, meanwhile, self-adaptive data categories are added to achieve flight and task operation mutual backup, rapid and convenient station external control access is supported, the one-station multi-machine function is achieved, and the service life of the system is prolonged. Real-time control data monitoring and feedback and communication between encoders are provided.

A multi-machine parallel energy storage system and a charging and discharging control method thereof are provided. The multi-machine parallel energy storage system includes: a single renewable energy device, at least two energy storage devices, an AC bus and a load. When the renewable energy device is connected to any energy storage device, that device becomes the master while others serve as slaves, and the master device is configured to: dynamically acquire first data, second data and third data; determine the current state of the multi-machine parallel energy storage system according to the first data, the second data and the third data; control the renewable energy device to provide electric energy to the master device when the current state meets the charging condition; and control the renewable energy device to provide electric energy to the slave device when the master device reaches a fully charged state.

The invention relates to the technical field of power system energy storage equipment testing, in particular to a small and medium-sized industrial and commercial energy storage cabinet twin-trawling testing system which comprises a main loop, a secondary control loop and an anti-countercurrent detection unit, the main loop comprises double testing loops and four sets of alternating current contactors, and multi-machine twin-trawling testing frameworks such as one-to-one, one-trawling-two and one-trawling-three can be flexibly combined; independent switching between grid connection and grid disconnection is supported, the secondary control loop comprises a button with a lamp and a grouping reset button, and the countercurrent prevention detection unit detects the energy flow direction in real time through an intelligent electric meter and a current sensor and has a mains supply charging function. According to the test system, through a double-loop parallel test architecture and a multi-machine flexible combination design, the system can be synchronously butted with multiple energy storage cabinets to carry out parallel test, the test efficiency can be improved, and a safety system with anti-countercurrent detection, rapid mode switching and precise control protection guarantees the test safety; the arrangement of the standardized terminal and the button with the lamp simplifies the operation difficulty, and reduces the test threshold.

The invention discloses a computing system, a control method, a control device, equipment, a medium and a switch, and relates to the technical field of computers, in a multi-machine multi-card cluster comprising a plurality of computing equipment, a first switch is adopted to realize interconnection between southbound interfaces of different acceleration cards, and the first switch comprises a first controller and a bus bridge, the bus bridge is connected with a southbound interface of the acceleration card, the first controller is used for distributing a southbound address for the acceleration card and configuring routing information of the bus bridge, so that the acceleration card carries out data forwarding based on the southbound address, and the bus bridge carries out data forwarding among southbound interfaces of different acceleration cards according to the routing information. According to the method and the device, any cross-host accelerator card does not need to be forwarded through a northbound interface during communication, and does not need to be appointed by upper software, so that the problems of relatively long communication path and communication blockage in related technologies are solved, and the communication efficiency of interconnection of the accelerator cards in a multi-host multi-card cluster is improved.

The utility model relates to a ground fast multi-machine launching platform, which comprises a launching rack (1) and a pulley (2), the pulley (2) comprises a booster (3), a pulley limiting plug (4), a shear pin (5), a sliding block (6), a groove (7) and a pulley body (8), and the launching rack (1) comprises a profile welding structure (9) and a guide rail (10). According to the ground rapid multi-machine launching platform, the multi-machine launching requirement can be met, meanwhile, the development expenditure can be reduced, the development period can be shortened, and the design efficiency can be improved.

The present invention discloses an optimization method for economic load dispatch of power systems based on an improved Golden Eagle Optimization (GEO) algorithm. By utilizing the characteristics of Tent chaotic mapping, which has uniformity and orderliness, the diversity of the initial population is enhanced. By using the elite reverse group strategy, which can make full use of excellent individuals, the search space of the population is expanded. The linear attack and cruise weight of the original GEO algorithm are nonlinearly improved to increase the convergence speed of the algorithm. Finally, the improved GEO algorithm is applied to solve the economic load dispatch optimization model. The simulation results of test functions and IEEE 15-machine and IEEE 40-machine test systems show that the proposed scheme is reasonable and effective. Compared with the multi-machine power systems under existing swarm intelligence optimization algorithms, the multi-machine and multi-node power systems of economic load dispatch optimized by the improved Golden Eagle Optimization (IGEO) algorithm have more excellent system dynamic performance.

The utility model relates to the technical field of battery cap assembly, and discloses an automatic feeding mechanism of new energy battery cap assembly equipment, which comprises a vibration feeding disc, the bottom of the vibration feeding disc is fixedly connected with a fixed base, and the upper end of the fixed base is fixedly connected with a mounting bracket. A large number of battery caps can be stored through the feeding hopper, an electric telescopic rod is started, the output end of the electric telescopic rod retracts to pull a sliding block to slide on the inner wall of a limiting groove, meanwhile, a baffle is driven to move, and shielding of the position of a discharging port is omitted; the battery caps are moved towards the position of the discharging opening, fall into the discharging plate through the discharging opening and are conveyed into the vibration feeding disc through the discharging plate, automatic feeding is achieved, the feeding frequency is reduced, the load of workers is reduced, the condition of one person with multiple machines is achieved, the production of enterprises is improved, and the production efficiency is improved. And the practicability is further improved.

The application discloses a kind of multi-machine cooperation SLAM methods based on active deep reinforcement learning.The method comprises the following steps: running ORB-SLAM2 program to robot, and the initial motion trajectory pose graph of multiple machines is obtained by pose estimation of image acquisition through camera;Based on the obtained robot motion trajectory pose graph, more accurate pose is obtained by using deep reinforcement learning TD3 algorithm training to optimize trajectory;On the basis of reinforcement learning algorithm, active perception strategy is introduced to optimize the pose of multiple machines simultaneously, and according to the real-time SLAM estimation probability value P, the corresponding robot is selected to optimize the pose information by TD3 algorithm;The pose information and actual distance information of each robot are transmitted between robots, and the back-end optimization of SLAM trajectory is carried out using TD3 algorithm, to eliminate the cumulative error effect.The application can effectively eliminate the error accumulation in SLAM system, improve the positioning and mapping accuracy of SLAM, and there is no loop restriction, which increases the robustness of SLAM system.

The invention provides a parameter design method considering impedance interaction characteristics of a distributed power supply and an SVC, and the method comprises the steps: constructing a port impedance model of a typical three-phase LCL type grid-connected converter and the SVC, building a node admittance matrix of a converter system, drawing a modal impedance curve of the system before and after the system is connected with the SVC in parallel through a modal analysis method, and determining a resonant mode of the system. The method comprises the following steps: solving a system characteristic root, taking a damping coefficient as a key parameter for representing the stability of the system, analyzing the influence of SVC parameters on the stability of the system, and aiming at a converter multi-machine grid-connected system, considering the reactive capacity configuration requirement of a station, aiming at improving the damping of the system, and combining a particle swarm algorithm to optimize the SVC parameters. According to the method, broadband harmonic oscillation caused by interaction of background harmonic waves and network impedance under complex working conditions can be effectively suppressed, reactive power provided for a power grid can be flexibly set, and the dual targets of electric energy quality optimization and harmonic oscillation treatment are achieved.

The application discloses a kind of multi-machine frequency response analysis method, device, equipment, medium and program product, it is related to the multi-machine frequency response modeling analysis technical field of enhanced SVG and distributed phase modifier, including: inputting preset disturbance power in the multi-machine frequency response model of target multi-machine grid-connected system, obtains the grid frequency variation of target multi-machine grid-connected system;Wherein, multi-machine frequency response model is based on the first equivalent frequency response model of phase modifier cluster access grid and the second equivalent frequency response model of enhanced SVG access grid is constructed, and is configured to reflect the functional relationship between disturbance power injected into grid and grid frequency variation, phase modifier cluster includes multiple distributed phase modifier;Based on grid frequency variation, the frequency stability of target multi-machine grid-connected system is analyzed.The application can realize the systematic frequency response analysis of enhanced SVG and distributed phase modifier multi-machine grid connection.

The application belongs to the field of aviation aerodynamic analysis, and particularly relates to a multi-aircraft aerodynamic compatibility rapid analysis method and system. The application adopts a numerical simulation mode to obtain aerodynamic force data of a tanker aircraft wake field, and then obtains an aerodynamic force data set of a receiver aircraft under different flight postures through calculation simulation. Then, an aerodynamic information statistical region of the receiver aircraft in the tanker aircraft wake field is determined according to a flight path of the receiver aircraft in a refueling process. Aerodynamic information is converted into receiver aircraft posture data through statistical means, and aerodynamic force change data of the receiver aircraft in the tanker aircraft wake field is obtained through interpolation calculation. The aerodynamic force deformation data of the multi-aircraft can be obtained by analyzing different aircraft types, so that the multi-aircraft aerodynamic compatibility rapid evaluation is completed. The multi-aircraft aerodynamic compatibility rapid evaluation can be completed without simultaneously having multi-aircraft shape numerical models, and the tanker aircraft and the receiver aircraft can be simulated and analyzed respectively. The calculation efficiency is high, the calculation cost is low, and the calculation is accurate.

The utility model discloses waste gas treatment equipment and a multi-machine mutual backup system, and relates to the technical field of waste gas treatment. The waste gas treatment equipment comprises an equipment body, a three-way valve, a first detection assembly and a gas supply assembly. A second air inlet and a standby air inlet are formed in the equipment body. The three-way valve comprises a first air inlet, a first air outlet and a second air outlet. The first gas inlet is used for introducing waste gas; the three-way valve can conduct an air path between the first air inlet and the first air outlet or an air path between the first air inlet and the second air outlet. The first air outlet and the second air inlet are connected through a first pipeline. And the second air outlet is connected with a bypass pipeline. The first detection assembly is used for detecting the pressure of the first pipeline and the bypass pipeline. The air supply assembly is used for supplying air to the first pipeline. The multi-machine mutual backup system comprises a plurality of waste gas treatment devices. The waste gas treatment equipment of the multi-machine mutual standby system can realize sustainable production of a production line, improve the working efficiency and prevent waste gas from flowing backwards.

The present invention discloses a power balancing method for the grid-connected multi-machine marine diesel generator. The method is based on a digital power balancing matrix module connected to the diesel generator set. The digital power balancing matrix module is composed of a grid-connected controller, a switch state diagnostic device, a grid-connected matrix generator and a power given distributor connected in sequence. The method of the present invention can realize the digitalization and intelligence of the grid-connected multi-machine diesel generator. Compared with the traditional distributed solution, the hard-wired connection between the diesel generators can be eliminated. The grid connection no longer relies on the complex diesel generator circuit breaker linkage logic, which reduces the complexity of the diesel power generation grid-connected system and improves the reliability and scalability of the system.

The application discloses a kind of multi-machine grid-connected inverter impedance modeling method and related equipment, belong to renewable energy power generation field, the method includes the following steps: based on frequency coupling effect grid-connected inverter impedance modeling, obtain final admittance matrix;According to the final admittance matrix, impedance model is established to each inverter in collection line, according to the impedance model, establish equivalent collection line model, calculate the equivalent high-frequency impedance of each link in the equivalent collection line model, according to the equivalent high-frequency impedance of each link, obtain multi-machine grid-connected inverter impedance model.The application can solve the problem that the prior art modeling is not accurate, thereby leading to the problem that stability analysis is not accurate.

The present invention discloses a transient stability control method and system for a network-forming inverter. The transient stability control method for the network-forming inverter based on the coordination of current limiting phase angle and reference power adaptively adjusts the current limiting angle and the magnitude of the reference power under different fault drop depths to limit the fault current of the network-forming inverter and ensure the stability of the power angle. This method can solve the risk of transient power angle instability caused by the current limiting link while stably limiting the current. The method of the present invention does not require additional control loops and additional devices, is simple and easy to implement, and is convenient for parameter adjustment. The method of the present invention can also be applied to other network-forming inverters and can be further popularized and applied to fault current limiting and transient power angle control in scenarios such as multi-machine grid connection and islanded microgrids.

The application provides a concrete vibration table parameter determination method based on a same-direction multi-machine self-synchronization, and specifically comprises the following steps: S1: obtaining kinetic energy, potential energy and a generalized force equation of the concrete vibration table according to a dynamic model of the concrete vibration table; S2: obtaining a motion differential equation of the concrete vibration table in combination with a Lagrange equation; S3: substituting an average phase angle, an angular velocity and an angular acceleration of an exciter into the motion differential equation of the concrete vibration table to obtain a dimensionless coupling equation of the concrete vibration table; S4: obtaining a synchronization condition in combination with the dimensionless coupling equation of the concrete vibration table and a limitation condition of an electromagnetic torque; and S5: obtaining a stability condition in combination with the dimensionless coupling equation of the concrete vibration table under the condition of meeting the synchronization condition. The method increases the vibration intensity of the multiple exciters in the concrete vibration table, thereby ensuring the vibration intensity of the concrete vibration table and improving the quality of the concrete prefabricated part.

The invention discloses a multi-machine grid-connected and off-grid control method for energy storage converters, and relates to the field of power grid control, and the method comprises the steps: dividing m energy storage converters into n blocks according to the spatial position, setting a common energy storage converter between the same grid-connected and off-grid instruction blocks, and forming a block chain; setting a first energy storage converter and a second energy storage converter in the same block according to the spatial positions of the energy storage converters; according to the actual grid-connected and off-grid requirements and the fault state of the energy storage converter, the block division coverage range is adjusted; the energy storage converter in the block chain is adjusted to compete again to generate a new public energy storage converter; the energy storage converters in the blocks are adjusted to compete again to generate a new first energy storage converter and a new second energy storage converter; and the energy storage converter of the adjusting block part receives the grid-connected and off-grid instruction to perform grid-connected and off-grid so as to realize multi-machine grid-connected and off-grid control of a dynamic region, and the stability and efficiency of multi-machine grid-connected and off-grid instruction transfer are improved.

The invention discloses a Cesium-based multi-machine multi-mode remote sensing monitoring and three-dimensional visualization system and method, and the system comprises a data collection and communication module, a rear-end data processing module, a data management and release module, a space analysis module, a monitoring module, a video stream synchronization module, and a front-end display module. The system accesses the multi-aircraft flight state and load data in real time, realizes state data fusion through time alignment and exception elimination, and constructs a continuous smooth track; lightweight video frame splicing is realized, and a spliced image is projected to a three-dimensional earth surface in combination with the pose of the unmanned aerial vehicle. The method supports spatial analysis to carry out auxiliary decision making of unmanned aerial vehicle tasks, realizes automatic release and multivariate fusion display of multi-modal remote sensing data, realizes integrated visualization and linkage analysis of multi-source remote sensing information, can improve situation awareness, spatial positioning precision and data processing real-time performance of multi-aircraft cooperative tasks, and has a good application prospect. The method has the characteristics of high real-time performance, high data fusion degree and excellent three-dimensional display effect.

The application belongs to the technical field of energy storage systems, and relates to a multi-machine parallel network energy storage converter fault ride-through method. θ ref The internal potential E output by the reactive power ring is combined to obtain a modulation wave; during normal operation, the switch is connected to the 1 / s integral link, and the system frequency is stabilized in cooperation with the active power ring; when a fault occurs, the switch is disconnected and does not access any link, and the system operates at a fixed frequency; when the fault is recovered, the switch is connected to the k d The proportional link and the 1 / s integral link are connected in parallel branches, power and frequency oscillations are quickly suppressed, and the system gradually recovers to normal; the application can ensure that the multi-machine parallel energy storage converter system realizes frequency synchronization, power balance and stable output during the whole fault ride-through process, greatly improves the fault ride-through capability and grid connection adaptability of the system, and provides a reliable technical guarantee for stable operation of a large-scale energy storage substation.

The invention discloses a parameter design method of a multi-machine grid-connected inverter interconnection system and a computer medium. The method comprises the following steps: S1, obtaining a d-axis current inner loop control function and a voltage outer loop control function according to the structure of a single inverter; s2, completing parameter configuration of one inverter according to a first method; the first method comprises the steps of obtaining current inner loop and voltage outer loop control parameters according to a current inner loop control function and a voltage outer loop control function under the constraint of a preset bandwidth and a phase margin; s3, performing parameter configuration on an unconfigured inverter according to the first method in combination with the bandwidth difference constraint and the impedance adaptability constraint between the inverters; drawing a Nyquist curve; s4, judging whether the Nyquist curve surrounds the (-1, j0) point or not, and if not, judging that the parameter configuration of the inverter is completed; if yes, the inverter is judged to be an unconfigured inverter; after the judgment is finished, entering S3; and S5, completing the parameter design of the system after the configuration of the parameters of all inverters is completed.

This invention relates to the field of data management technology, specifically to a multi-machine, multi-process synchronous data management system and method based on block tasks. It includes a technical support unit, a multi-process synchronization unit, a data synchronization unit, and a data management unit. The technical support unit supports system connection and operation; the multi-process synchronization unit manages the synchronization of multiple concurrent processes; the data synchronization unit implements data synchronization within the system; and the data management unit manages the synchronized data. The system designed in this invention can improve system parallel efficiency, quickly achieve massive data synchronization, and then process and provide the data for user access and application. Its method can reduce the workload of data transmission, lower the probability of data loss, improve data synchronization efficiency, reduce user workload, lower the probability of data corruption, ensure business operation progress, effectively improve resource utilization, and increase system throughput.

The application discloses an inverter single-phase / two-phase island detection method and device based on negative sequence components and belongs to the technical field of inverter island detection, which comprises the following steps: injecting periodic reactive disturbance current into a power grid through each inverter, including four disturbance modes in one disturbance period, each disturbance mode lasts N rated grid periods, and the amplitudes of positive and negative reactive disturbance currents are not equal; for each inverter, the following steps are performed: (S1) obtaining the voltage negative sequence component vector of a common coupling point in the current rated grid period, and judging whether disturbance reset is needed; (S2) updating the number of rated grid periods AI_CNT of the current disturbance mode, if AI_CNT is not equal to 0, turning to (S1), otherwise, turning to (S3); (S3) point multiplying the voltage negative sequence component vector change amount of the current and the previous disturbance mode; (S4) judging whether the island detection criterion is met according to the point multiplication result. The application can improve the accuracy of single-phase or two-phase island detection and can be applied to multi-machine grid-connected working conditions.

The utility model discloses a water diversion system for a pumped storage power station with an ultrahigh rated water head. The water diversion system comprises an upstream straight section, N stages of vertical shafts and N stages of branch-shaped forked sections, preferably, the N-stage vertical shaft is a 2-3-stage vertical shaft. One end of the upstream straight section is connected with the upstream reservoir, and the other end is connected with the top end of the N-stage vertical shaft; the lower end of each stage of vertical shaft is provided with a corresponding straight section, and is connected with the lower stage of vertical shaft through the straight section; each stage of bifurcation section is arranged on the straight section at the lower end of the vertical shaft of the corresponding stage, and each stage of bifurcation section is a sub-bifurcation section of the upper stage of bifurcation section; each stage of bifurcated section sequentially passes through the straight section where the bifurcated section is located and the vertical shaft of the next stage, and water flow is guided to the lower-stage bifurcated section; and in the N stages of bifurcated sections, one end of the last-stage bifurcated section is connected with the previous-stage bifurcated section, and the other end of the last-stage bifurcated section is connected with the water-turbine generator set. According to the utility model, the bifurcation section is arranged on the straight section under each stage of vertical shaft, so that the arrangement of one hole and multiple machines of the water diversion system of the ultrahigh rated water head pumped storage power station is realized, the project investment is saved, meanwhile, the HD values at the N stages of bifurcation sections can be ensured to be within the range recommended by specifications, and the production and processing capabilities and hydraulic conditions of the existing equipment are better.

The invention provides a binary tree monorail multi-machine task cooperative scheduling method based on dynamic planning and real-time scheduling. The method comprises scheduling of a starting stage and a returning stage of a monorail multi-machine; in the starting stage, a dynamic planning strategy is adopted to gradually optimize task allocation and path planning by constructing a state transition equation and a cost function; in the course reversal stage, course reversal scheduling adjustment is carried out by dynamically adjusting a course reversal sequence and an orbital transfer strategy; and from the last-stage orbit transfer node of the binary tree orbit network, deriving from the upper-layer orbit transfer nodes step by step by taking the minimization of the total passing time of the vehicle as a target. According to the method, the global optimization capability of dynamic planning and the real-time response requirement of the scheduling task are combined, and through recursive task allocation and path optimization, not only can task change and emergency situations be quickly responded, but also the running paths of multiple machines in a complex track can be effectively coordinated, task conflicts and path congestion are avoided, and the task scheduling efficiency is improved. The optimal substructure characteristic of dynamic planning avoids the problem of high complexity of traditional global calculation.