45 results about "Multi machine system" patented technology

The invention discloses a multi-machine system number-real consistency error collaborative prediction method and system based on multi-agent reinforcement learning, and belongs to the technical field of multi-robot systems and artificial intelligence. According to the method, each robot is modeled as an intelligent agent, a centralized training distributed execution framework is adopted, and collaborative prediction of errors is achieved. Each agent collects own, neighbor and environment state information in real time, multi-source information integration is carried out through feature embedding and gating fusion, the influence of different information sources on errors is dynamically evaluated by adopting a layered attention mechanism, and propagation and coupling rules of the errors in a cluster are effectively modeled. In the training stage, the centralized commentator network is utilized to evaluate the global prediction performance, the cooperative optimization of each executor network is guided, and the prediction precision is improved. According to the method, active and collaborative prediction of the multi-machine system number-real consistency error is realized, and a key technical support is provided for error feed-forward compensation and system reliability guarantee.

The invention relates to the technical field of dynamic analysis and predictive control of hydraulic machinery, and discloses a method, a device, equipment and a medium for positioning a hydraulic interference source of a pumped storage power station, and the method comprises the steps: constructing a non-uniform density monitoring network of the pumped storage power station; generating a spatial frequency domain matrix of the characteristic frequency band based on the non-uniform density monitoring network, wherein the spatial frequency domain matrix comprises amplitude distribution and phase distribution; based on the phase distribution, a preset inversion algorithm is adopted to solve an interference source space positioning result; and calculating a turbulent energy contribution rate based on the interference source space positioning result and the amplitude distribution, and performing pumped storage power station vortex system energy risk assessment based on the turbulent energy contribution rate. According to the method, the three-dimensional coordinate accurate locking of the hydraulic interference source is realized, the turbulent energy contribution rate is calculated based on the interference source positioning result and the amplitude distribution, the pumped storage power station vortex system energy risk assessment is realized, and the sub-meter positioning and high-risk early warning capabilities are provided for the hydraulic vibration source of the one-pipe multi-machine system of the pumped storage power station.

The invention provides a multi-unmanned aerial vehicle dynamic path planning system and method, and the system comprises a coordinate conversion module which is used for carrying out the bidirectional conversion of latitude and longitude coordinates and three-dimensional grid coordinates, so as to establish a unified space-time coordinate conversion reference; the map module is used for constructing a three-dimensional airspace representation model; the three-dimensional airspace representation model records position information of an obstacle and boundary range information of the temporary no-fly zone so as to provide real-time airspace information; the route module is used for delimiting an exclusive safety area for each unmanned aerial vehicle in the air; the path planning module is used for performing multi-machine path planning based on the real-time airspace information and the space-time occupancy state; the map module, the route module and the path planning module work cooperatively based on a unified space-time coordinate conversion reference. Through unified three-dimensional grid map representation and a space-time occupation management system, integrated coordination optimization of the whole process from flight plan approval to flight execution is realized, and real-time dynamic management of a large-scale multi-machine system is supported.

The invention belongs to the technical field of mechanical transmission, and discloses an intelligent transmission gear dynamic compensation method for multi-machine high-precision cooperation, and the method comprises the steps: collecting the real-time operation data of a multi-machine cooperation system, the real-time operation data including the gear rotation speed, load, temperature and vibration data; constructing a dynamic model of the transmission gear based on the real-time operation data; calculating a dynamic error of the transmission gear according to the dynamic model; predicting the dynamic error by adopting an intelligent algorithm and generating a compensation parameter; the operation parameters of the transmission gear are adjusted according to the compensation parameters, so that multi-machine high-precision cooperation is achieved; and monitoring the operation state of the multi-machine cooperation system in real time, and dynamically adjusting the compensation parameters according to the monitoring data. According to the method, the operation precision and stability of the multi-machine system are remarkably improved, and the method is suitable for high-precision transmission scenes such as robots, numerical control machine tools and aero-engines and has high practical value and popularization prospects.

The invention relates to the technical field of circuit protection, in particular to a hot plug protection circuit of a multi-machine system and electronic equipment. The hot plug protection circuit is applied to a multi-machine system, the system comprises a main battery pack and at least one slave battery pack which are connected in series, and each battery pack is connected with the next slave battery pack through a corresponding wire harness connector in sequence. The wire harness connector is provided with a first signal pin and a second signal pin, and the first signal pin is communicated with the second signal pin of the front wire harness connector when the corresponding wire harness connector is connected to the front wire harness connector. The hot plug protection circuit can control the on-off of the first pin and the second pin based on the connection state of the adjacent wire harness connectors, and outputs a corresponding signal to the controller according to the connection state of the first signal pin and the second signal pin of each wire harness connector. Therefore, the controller correspondingly triggers the protection action of the corresponding battery pack according to the received signal, and the circuit safety and the possible personnel safety are protected.

The invention requests to protect a multi-machine system synchronization method based on a CXL shared cache consistent memory. Relates to the technical field of high-performance computing and memory interconnection, at present, a plurality of synchronization mechanisms are provided in a Linux system, and the synchronization mechanisms are designed to face a multi-core and multi-process environment of a stand-alone system and are used for guaranteeing concurrent access of a plurality of processes to shared data. However, the action range of an existing synchronization mechanism is limited in a single system, and for the situation that multiple processes belonging to multiple independent host systems concurrently access data in a CXL shared memory, the cross-host concurrent access requirement exceeds the application range of the existing Linux synchronization mechanism, data competition and inconsistent access are possibly caused by direct use, and the data access efficiency is improved. Even if the system crashes, the cross-host access security on the CXL shared memory cannot be ensured. The invention aims to construct a safe and efficient synchronization mechanism oriented to multi-system parallel access CXL shared memory data so as to realize cross-host multi-process synchronous access to the data in the CXL shared memory.

The present invention discloses a non-real-time sampling synchronization method for a distributed multi-machine system. After the integer times of the sampling point moments of each slave chassis are put into one-to-one correspondence with the integer times of the sampling point moments of the master chassis, the differences between the sampling point moments of each slave chassis and the fractional times corresponding to the sampling point moments of the master chassis are compared. If the difference is outside the threshold, the fractional time of the sampling point moment of the master chassis is used to replace the fractional time corresponding to the sampling point moment of the slave chassis. If the difference is within the threshold, the fractional time of the sampling point moment of the slave chassis remains unchanged, thus achieving the synchronization of sampling data. The non-real-time sampling synchronization method for a distributed multi-machine system provided by the present invention does not rely on a real-time operating system and a real-time sampling mechanism, has strong versatility, and can ensure the synchronization of sampling data.

The invention discloses an SMES-MMC cooperative frequency supporting method for a new energy sending-out system, discloses a system and a medium with the SMES-MMC cooperative frequency supporting method for the new energy sending-out system, and provides a method for improving the transient stability of a wind power-containing multi-machine system by combining superconducting energy storage. A dynamic power compensation control strategy based on sliding mode control is designed by constructing a mathematical model of a superconducting energy storage and direct-driven wind power generation system, and optimal control of system frequency recovery and voltage stability is realized by combining slope power recovery characteristics of a fan.

The invention discloses a gravity energy storage multi-machine system mass block dynamic distribution method and device and electronic equipment, and the distribution method comprises the steps: calculating a loss function of an energy storage unit, the loss function being a quadratic function about the output power of a mass block; determining a quantity constraint condition of the mass blocks according to the power required to be output by the energy storage system and the rated power of the energy storage unit; and determining an optimal allocation method of the mass blocks according to a Monte Carlo algorithm and the loss function of the energy storage unit under the condition of quantity constraint of the mass blocks. The number of the mass blocks in different energy storage units can be dynamically distributed in real time, the energy efficiency is improved, and the loss of the gravity energy storage multi-machine system is reduced.

The invention relates to the technical field of gravity energy storage multi-machine system power distribution, in particular to a multi-machine system power distribution method, system and device and a medium. Calculating the total efficiency of each stand-alone system based on an efficiency model; constructing a power distribution optimization model based on the total efficiency of each single-machine system; and distributing the power of each unit according to the power distribution optimization model. The method has the beneficial effects that an intelligent power scheduling strategy can be provided for the renewable energy storage system, the energy loss and the equipment overload risk are reduced, and the peak regulation capability and the economic benefit of the power grid are improved.

The application discloses a kind of primary frequency modulation control method and system of hybrid wind farm, including obtaining the data information of target power system and corresponding hybrid wind farm;Multiple-machine system frequency response model of target power system is constructed and is simplified to obtain aggregate response model;Based on the dynamic process of wind turbine output power and fan, the primary frequency modulation dynamic model of hybrid wind farm is constructed;The active output power of network type fan in hybrid wind farm is calculated;Based on the real-time rotor kinetic energy stored in each fan in hybrid wind farm, the droop coefficient of each network type fan and the frequency modulation power required to be provided by follow network type fan cluster are calculated;According to the frequency modulation characteristic parameters of follow network type fan cluster, real-time system frequency and energy state index, the output power of each follow network type fan is calculated;The primary frequency modulation control of hybrid wind farm is completed.The application not only realizes the primary frequency modulation control of hybrid wind farm, but also has higher reliability and better accuracy.

This invention discloses a method for evaluating the inertia of the equivalent synchronous machine in a renewable energy power plant. It constructs a frequency response model of a multi-machine system incorporating renewable energy virtual inertia frequency regulation, obtaining the system transfer function. It determines the frequency support effect of different renewable energy power system frequency regulation parameters. Simulation yields data pairs of renewable energy frequency regulation control parameters, unit power response time constants, and frequency indices, representing a three-dimensional surface characterizing the renewable energy frequency regulation control effect. The renewable energy virtual inertia frequency regulation module is removed from the frequency response model, and a polynomial fit is used to the correlation characterization model of the power grid inertia frequency regulation capability evaluation parameters and frequency indices based on the dataset. Using the frequency indices as intermediate variables, a three-dimensional surface of renewable energy frequency regulation control parameters and response speed versus equivalent synchronous machine inertia is obtained based on the principle of frequency index equivalence. This method comprehensively considers the dynamic response of renewable energy itself and the influence of control parameters, correctly evaluating the frequency support capability of renewable energy power plants using virtual inertia.

The invention belongs to the related technical field of multi-robot control, and discloses a multi-robot distributed cluster regulation and control method and system, and the method comprises the steps: S1, each robot calculates the state change amplitude of itself, and judges whether to enter an expected cluster stable state or not according to the obtained state change amplitude of itself; s2, the robot exchanges body state judgment marks with neighbors, and judges whether a local group where the robot is located enters an expected cluster stable state or not; s3, the robot exchanges the local state judgment mark with the neighbors again, and judges whether the global multi-machine system enters an expected cluster stable state or not according to the number of the neighbors and the content of the local state judgment mark; and S4, the robots adaptively switch the simplified cluster control model without the space regulation and control items and the complete cluster control model with the space regulation and control items according to the group state judgment marks, and multi-robot distributed cluster regulation and control are realized. Progressive convergence of the multi-robot cluster state is realized.

This invention relates to the field of dynamic analysis and predictive control technology for hydraulic machinery, and discloses a method, device, equipment, and medium for locating hydraulic interference sources in pumped storage power stations. The method includes: constructing a non-uniform density monitoring network for the pumped storage power station; generating a spatial frequency domain matrix of characteristic frequency bands based on the non-uniform density monitoring network, the spatial frequency domain matrix including amplitude distribution and phase distribution; solving for the spatial location result of the interference source using a preset inversion algorithm based on the phase distribution; calculating the turbulent kinetic energy contribution rate based on the spatial location result of the interference source and the amplitude distribution, and conducting an energy risk assessment of the vortex system of the pumped storage power station based on the turbulent kinetic energy contribution rate. This invention achieves precise three-dimensional coordinate locking of hydraulic interference sources, calculates the turbulent kinetic energy contribution rate based on the interference source location result and amplitude distribution, realizes the energy risk assessment of the vortex system of the pumped storage power station, and provides sub-meter-level positioning and high-risk early warning capabilities for hydraulic vibration sources in a multi-machine system of a pumped storage power station.

This invention relates to a transient synchronization stability analysis method for multi-parallel grid-connected converters. First, within a multi-machine system framework, a grid-connected converter system model considering the coupling effect of the inner loop current and the phase-locked loop is constructed. Then, using the Newton-Raphson method and the equal area criterion, quantitative assessments of the existence of equilibrium points and visual analysis of transient synchronization behavior are achieved, respectively. Next, through an extended application of the Lyapunov direct method, a physically meaningful transient synchronization stability criterion is rigorously derived, revealing the key factors that easily lead to transient synchronization instability and their influencing laws. Finally, time-domain simulations using MATLAB / SIMULIN are performed to verify the accuracy of the proposed method. The proposed transient synchronization instability characteristic description method and risk quantification assessment system have significant theoretical guiding significance for the parameter optimization design of power electronic systems.

The invention discloses a multi-direct-drive fan system order reduction method based on a balance truncation theory, which can cover a multi-machine system simplification method of an aggregation model, and realizes ordered truncation of main dynamic energy channels of the system through collaborative analysis of controllability and observability. Firstly, linearization is carried out near a system balance point, and a standard state space model is constructed; secondly, directly performing balance transformation on the full-order small signal model without depending on a physical structure and manual partitioning, so that the controllability and the observability are uniformly distributed in a state space; then, the state variables are sorted according to Hankel singular values, the part with remarkable dynamic contribution in an input and output channel is automatically recognized, and information loss caused by improper structure division is avoided; and finally, by cutting off the redundant state, a reduced-order model of which the dynamic characteristic is highly close to that of an original system is constructed. A simulation result shows that when parameters are consistent, the method is naturally degraded into a traditional aggregation model; and when the parameters are inconsistent, the performance of the reduced-order model is obviously superior to that of an aggregation model, and stronger robustness is shown. The method provides an effective new way for simplifying a multi-direct-drive wind power plant system model in a different-wind-speed scene.

The invention belongs to the field of power grid intensity quantification, and discloses an energy storage heterogeneous multi-machine system intensity quantification method, system and device and a medium, and the method comprises the steps: carrying out the eigenvalue decomposition of an extended admittance matrix, obtaining a generalized short-circuit ratio and a corresponding eigenvector, and calculating a participation factor of the device based on the eigenvector; according to a multivariable feedback control theory, constructing a dynamic model of equipment in an equivalent isomorphic system, identifying a weakest subsystem characteristic equation, and calculating a critical short-circuit ratio of equivalent equipment in a heterogeneous system; and calculating a relative difference value between the generalized short-circuit ratio and the critical short-circuit ratio so as to quantify the small disturbance stability margin of the energy storage heterogeneous system. According to the method, the extended admittance matrix is subjected to eigenvalue decomposition, so that the generalized short-circuit ratio and the eigenvector corresponding to the generalized short-circuit ratio can be extracted, the dynamic characteristics of the energy storage heterogeneous multi-machine system are deeply analyzed, the participation factor of each device is calculated by using the obtained eigenvector, and the specific contribution degree of each device in the dynamic behavior of the system is accurately quantified.

The application discloses a new energy unit phase-locked loop synchronous stability evaluation method and system of a multi-machine system, which constructs a new energy phase-locked loop output phase angle dynamic equation mathematical model and a synchronous unit steady-state power angle, calculates the new energy end phase-locked loop output phase angle of the multi-machine system before a fault, the synchronous machine power angle when the fault is removed, the new energy unit phase-locked loop output phase angle and the new energy unit phase-locked loop stability limit phase angle, and finally calculates the increasing area and the decreasing area of the new energy phase-locked loop output phase angle of the multi-machine system when the fault is removed, and further determines the new energy unit phase-locked loop synchronous stability, that is, the application combines the synchronous unit to evaluate the phase-locked synchronous stability of the new energy unit in the multi-machine system, improves the evaluation accuracy of the new energy unit phase-locked synchronous stability, and solves the problem that the prior art lacks consideration of the influence of the thermal power unit on the new energy unit in the multi-machine system, thereby resulting in low accuracy of the phase-locked synchronous stability of the new energy power generation unit.

The present invention discloses a method, system, terminal device and storage medium for transient stability assessment of a multi-machine system based on a hyper-tangent plane. The method constructs a differential algebraic equation group of the multi-machine system according to the state quantity of the multi-machine system, calculates the equilibrium point and Jacobian matrix of the multi-machine system according to the differential algebraic equation group of the multi-machine system, and then determines a class of unstable equilibrium points and Jacobian matrices thereof. The hyper-tangent plane equation is calculated according to the Jacobian matrix of the class of unstable equilibrium points. The nonlinear characteristics of the multi-machine system are analyzed by the hyper-tangent plane equation and the fault trajectory to calculate the critical fault removal time of the multi-machine system, and the transient stability of the multi-machine system is evaluated according to the critical fault removal time, thereby improving the accuracy of the transient stability assessment of the multi-machine system, ensuring the stable operation of the multi-machine system, and solving the problem that the transient stability assessment result of the multi-machine system is low due to the lack of analysis of the nonlinear characteristics of the multi-machine system in the time domain simulation method.

The application discloses a kind of based on the damping inertia of ridge estimation multi-self-synchronous voltage source coordinated control method, comprising: establishing system transfer function and self-synchronous voltage source model;Self-synchronous voltage source model is linearized and differentiated, and virtual damping and virtual inertia are decoupled by ridge estimation LASSO regression, optimal virtual damping coefficient and virtual moment of inertia under system dynamic and static are solved;According to dynamic performance and optimal second-order system criterion, introduce transient compensation to carry out optimal control to system damping inertia;According to the reasonable matching principle of virtual damping inertia, the virtual inertia and virtual damping coefficient of each self-synchronous voltage source are set, the transition time of multi-machine system is kept consistent, and dynamic and static coordinated control of multi-self-synchronous voltage source is carried out.The application considers the reasonable matching of virtual inertia and virtual damping coefficient under multi-machine parallel system, effectively improves system dynamic characteristics and static stability ability, so that new energy station source side self-synchronous voltage source power quality is higher, and system adaptive performance is better.

The embodiment of the invention provides a power system frequency safety constraint solving method based on physical data hybrid drive, which comprises the following steps: establishing a multi-machine system frequency response model, and deducing a nonlinear analytical relationship between a frequency safety margin and a frequency characteristic space; sampling in the frequency characteristic space to generate a data sample set; based on the data sample set, using a support vector machine to train and fit the non-linear analytic relationship obtained by derivation, and constructing a support vector machine model; and converting the support vector machine model into a mixed integer linear programming constraint, integrating the mixed integer linear programming constraint into the power supply programming model of the power system, and carrying out optimization solution to obtain an optimal power supply combination scheme. According to the technical scheme provided by the invention, the frequency support potential of various power supplies can be accurately evaluated and utilized, the total cost of the system is remarkably reduced on the premise of ensuring the frequency safety of the low-inertia power system, and a key technical support is provided for planning and operation of the high-proportion renewable energy power system.

The present invention provides a method, device, system, and computer-readable medium for determining the source of disturbances in wind farm subsynchronous oscillations based on energy function analysis. The method comprises: constructing a subsynchronous oscillation simulation model for a doubly-fed wind turbine; analyzing the performance characteristics of the subsynchronous oscillation mechanism of a wind power grid-connected system, determining different subsynchronous oscillation generation mechanisms and their influencing factors and degree of influence; constructing an energy function suitable for subsynchronous oscillations in wind power grid-connected systems; analyzing the oscillation characteristics of the wind turbine based on changes in internal oscillation energy; applying the wind turbine energy function to a multi-machine system containing wind turbines, and determining the main source of disturbances that generate subsynchronous oscillations after the system is disturbed based on the relevant energy changes. The present invention can apply the energy function method to the subsynchronous oscillation problem of wind turbines, conduct a more comprehensive and accurate stability analysis of the power system, and determine the main disturbance unit based on relevant information such as the start-up time, oscillation amplitude, and trend.

The present invention relates to the technical field of power system transient stability, and discloses a control method and system for a multi-flexible DC fed power grid. The control strategy constructed by the present invention can perform coordinated control when the multi-level converter is in the low voltage ride-through mode due to an AC short-circuit fault, and effectively improve the transient power angle stability of the multi-machine system; it solves the technical problem of how to improve the transient power angle stability of the multi-machine system in the multi-flexible DC fed power grid.

This invention proposes a rapid braking control strategy for multiple units in a ramp-type gravity energy storage system. By constructing an energy efficiency evaluation function, the optimal delay time for multi-stage braking that can balance small-power impacts and rapid shutdown braking is determined. This invention is based on the braking delay time Δt, the number of grid-connected units N, and the total braking time T of the entire unit in the ramp-type gravity energy storage system. brake Braking peak power P max By identifying the relationship between parameters and the speed curve of a single unit during braking, the delay time t of a single unit can be determined. brake By setting weight factors for the braking time and peak braking power of the entire unit and the number of units in the system, and fitting the braking time curve and peak braking power curve of the entire unit using the basic interpolation method, a multi-level braking energy efficiency evaluation function model for the sloped gravity energy storage system is constructed, and the optimal delay time setting scheme under different weight factors is studied.

The application provides a controller parameter optimization method and system based on transient stability domain maximization, and the method comprises the following steps: using a virtual synchronous generator to control a network type controller, and obtaining operation data of the network type controller; constructing a multi-machine system state equation according to the operation data of the network type controller; using a sum of squares programming algorithm to process the multi-machine system state equation, and obtaining a Lyapunov function for expanding the stability domain; using a simulation internal domain expansion parameter optimization algorithm to process the Lyapunov function for expanding the stability domain, and constructing an optimized Lyapunov function; and redesigning parameters of the network type controller according to the optimized Lyapunov function. The application realizes expansion of the transient stability domain, and improves the stability of the power system where the controller is located.

The invention relates to the technical field of network construction type converter-based power supply inertia estimation based on small disturbance response, in particular to a data-based network construction type power supply inertia estimation method. Comprising the following steps: obtaining an inertia response of a network-forming CBG; obtaining a network construction type CBG inertia expression based on electromechanical characteristics; and extracting the electromechanical oscillation component. The inertia response model under the electromechanical time scale is constructed on the basis of analyzing the time scale of each control link in the detailed model of the network construction type CBG. By analyzing the electromechanical oscillation response characteristics of the net-forming type CBG under small disturbance, the analytical expression of the inertia of the net-forming type CBG is deduced, and the situation that the inertia is evaluated to be negative can be effectively avoided. A dominant oscillation mode is extracted through an oscillation mode decomposition technology, and the application of the estimation method in a large-scale multi-machine system is improved.

The present application relates to the field of new energy technology, in particular to a three-machine virtual synchronous generator frequency coordination control method and system, the method comprises: obtaining the control data of each VSG in the three-machine VSG island system; real-time calculation of the frequency deviation coupling term between multiple machines, generating a virtual dynamic mutual damping torque compensation; combined with the rolling optimization characteristics of MPC control, taking the reasonable interval of frequency convergence to the rated value as the target, building a multi-objective cost function, outputting the optimized active reference power; through the synergistic effect of virtual dynamic mutual damping and MPC, the frequency coordination control is realized. The present application solves the problems of serious frequency deviation, excessive transient fluctuation and poor multi-machine synchronization of three-machine VSG system, not only enhances the frequency disturbance rejection ability of multi-machine system, but also realizes the precise control of frequency, improves the operation stability, synchronization and economy of three-machine VSG island system.

The invention relates to an inverter off-grid parallel operation power distribution control method and an off-grid parallel operation multi-machine system. The control method is applied to the off-grid parallel operation multi-machine system, the off-grid parallel operation multi-machine system is provided with a plurality of inverter devices, and the control method comprises the following steps: obtaining impedance characteristics of the inverter devices, and obtaining power droop coefficients of the inverter devices according to the impedance characteristics of the inverter devices; and controlling the power output of the inverter equipment during parallel operation according to the power droop coefficient of the inverter equipment. By implementing the method, the phenomenon of parallel operation failure caused by battery power feed of the parallel operation inverter equipment can be prevented.

The invention discloses a multi-motor cooperative minimum loss control method and system for linear induction motors, and belongs to the technical field of linear motor control. The method comprises the following steps: deducing a function relationship between thrust and total loss of a plurality of motors under the control of minimum loss according to a relationship between a primary flux linkage and loss of a single motor; defining a thrust distribution coefficient, and establishing a multi-motor thrust-total loss optimization model comprising a total thrust constraint, a thrust constraint of each motor, a voltage constraint and a normal force difference constraint of adjacent motors; taking the thrust distribution coefficient as an optimization variable, and adopting a sequential quadratic programming method to carry out optimization distribution on each motor thrust instruction; and finally, according to the optimized thrust instruction of each motor, realizing thrust tracking and loss regulation and control of each motor in combination with a single-motor minimum loss control strategy. According to the invention, cooperative minimum loss control from a single-machine system to a multi-machine system is realized, and the overall operation efficiency of the multi-motor system is effectively improved.

The invention relates to the technical field of robots, and discloses a binary problem decision-making method of a heterogeneous robot system based on a multi-modal large language model, a terminal and a readable storage medium, and the method comprises the steps: obtaining environment feedback, carrying out the decision-making judgment of a binary problem decision-making scene based on the multi-modal large language model according to the environment feedback, and obtaining a binary problem decision-making result; obtaining a judgment result; performing opinion exchange with other robots based on a multi-modal large language model, and updating the judgment result to obtain a final judgment result; according to the method, judgment is carried out through the multi-mode large language model, different task scenes and current robot forms can be adapted according to task description and role description, opinions of different forms of robots in a heterogeneous multi-machine system are exchanged by adopting an exchange mechanism, and the system is more flexible to use. And under the condition that the universality is ensured, effective utilization of robots with different capabilities in a heterogeneous multi-machine system can still be realized.