57 results about "Order control" patented technology

The invention relates to an unmanned aerial vehicle path planning method and system based on GNN and high-order security constraints. The method comprises the steps that a navigation scene where an unmanned aerial vehicle is located is represented as a heterogeneous directed graph, message passing and feature updating are conducted through the GNN, a risk-aware attention mechanism is introduced, and an interpretable decision result is output; a differentiable HoCBF-QP optimization layer is introduced, an original control command output by a strategy network is used as input, quadratic programming with high-order control barrier function constraints is solved online, minimum-amplitude safety correction is carried out on the control command, and an actuator control command meeting safety constraints is output; starting a HoCBF safety shield during operation so as to strictly ensure that all safety constraints are met before execution; a calculation task of the whole control cycle is modeled into a directed acyclic graph form, and parallel execution is carried out on heterogeneous multiple cores by utilizing a real-time scheduling strategy. The problem that unmanned aerial vehicle navigation control is not effective and unified in three aspects of structure, safety and scheduling is solved.

The invention relates to the technical field of data processing, in particular to an activation feeder outlet baffle adjusting device and method, and the device comprises a data collection module, a parameter optimization module, a control decision module and an execution module. The data acquisition module acquires load data of a conveying belt and material state data of a discharge port in real time; the parameter optimization module adopts a genetic algorithm to dynamically optimize first-order control parameters and second-order control parameters, the control decision module triggers an adjustment strategy based on a load deviation step by step, preferentially adjusts the width of a discharge port through the angle adjustment amount of an outlet baffle, and if the deviation is continuous, a vibration amplitude adjustment instruction is generated in combination with material state data; the execution module converts the adjusting quantity into displacement and vibration driving signals. Through hierarchical cooperative control and a closed-loop feedback mechanism, the problem of nonlinear control instability caused by dynamic changes of material humidity, granularity and viscosity is solved, the output matching precision under the multivariable coupling working condition is improved, and the material viscosity and the secondary bridging risk are reduced.

The invention discloses an offline multi-channel customer demand processing system based on grid control. According to the system, a layered system and a multi-module cooperation mode are adopted, WeChat, phone and other multi-channel customer appeal data are collected through the data collection layer, and after cleaning and fusion are conducted through the data processing layer, the functions of work order control, service quality analysis and the like are achieved through the service logic layer. The system utilizes a plurality of advanced algorithms, such as natural language processing, voice recognition, intelligent work order distribution and other technologies, improves the appeal processing efficiency and quality, constructs a service quality evaluation model, and carries out risk prediction and intelligent decision making. In the aspect of performance, a cache and distributed architecture is adopted to guarantee the response speed and the concurrent processing capability, and good expansibility and compatibility are achieved. In addition, data security and privacy protection are ensured through an AES encryption algorithm and a block chain technology, and an algorithm model is optimized regularly. The system effectively solves the problem of a traditional service mode, and improves the service level and customer satisfaction of a power enterprise.

The invention discloses a robot safe near-optimal motion planning method based on hybrid reinforcement learning, and belongs to the technical field of robot motion. The method comprises the following steps: initializing an initial state of a robot, a multilayer neural network weight and a high-order control barrier function HOCBF parameter; generating a target navigator through forward propagation of the multi-layer neural network; screening a safety controller from a safety control set defined by the HOCBF; fusing the target navigator and the safety controller to generate a final control strategy; calculating a Bellman error; and updating the initial state of the robot and the weight of the multi-layer neural network based on the final control strategy and the Bellman error. According to the invention, a neural network approximation target navigator and an HOCBF safety controller are deeply fused, so that a hybrid control system with a layered guarantee framework is constructed. The problem of safety guarantee failure caused by Lie derivative disappearance of a traditional CBF in a high-order system is solved, and meanwhile, the technical bottleneck that an existing HOCBF scheme is limited to local optimization is broken through.

The purpose of the present invention concerns a control command for a machine tool, and is to make it possible to adopt a high-frequency repetitive oscillation command, without restrictions on communication capacity, when acquiring a control command created by superimposing a command with repeatability on a normal move command such as a move command having no repeatability. The purpose can be achieved by: acquiring, from an higher-order control device, only information about the form of a command, and parameter information on numerical information relating to an amplitude, a period, and other feature amount; creating a repetitive movement command that is a command with repeatability only from the parameter information; and superimposing the repetitive movement command on a normal move command such as a move command having no repeatability.

The invention discloses a man-machine interaction control method and device based on a high-order data driving control obstacle function, and the method comprises the steps: considering a mechanical arm dynamic model containing unknown parameters, and building an admittance model to generate a robot expected track conforming to interaction force feedback; constructing a robot nonlinear tracking controller based on a neural network; the method comprises the following steps: collecting input and output information of a robot system, establishing an equivalent dynamic data model, and designing a data-driven sliding mode adaptive controller; and a high-order control barrier function based on data driving is constructed, and a final control input is obtained by solving a quadratic programming problem under a unified framework of a control function and a data-driven sliding mode controller. According to the method, a more complex interaction control problem can be solved while robot dynamic model information is not needed, and reliable transient response and steady-state tracking precision are ensured under the condition that a robot dynamic model is unknown.

The invention provides a spot welding robot tail end arm zero motor fixed point control method and equipment. The method comprises the following steps: constructing a kinetic model of the spot welding robot, and converting the kinetic model into a second-order control model; the second-order control model is converted into a first-order controllable model through the intermediate parameters, and the path constraint condition of movement of the tail end arm of the spot welding robot is determined according to the first-order controllable model; determining a first joint controller and a second joint controller of the spot welding robot by adopting the path constraint condition and a first-order controllable model; and a first joint controller and a second joint controller are adopted to control the kinetic model, and it is ensured that the tail end arm of the spot welding robot moves to a preset point position. Dependence of the spot welding robot on an execution motor can be reduced, the production cost of industrial products machined by the spot welding robot is reduced, and the market competitiveness of the industrial products is improved.

The invention discloses an energy storage resource cooperative control method, system and device and a medium, and belongs to the field of electric power systems.The method comprises the steps that real-time topology, power flow and device data are obtained by periodically scanning the operation state of a power grid, and an adjustable energy storage resource pool is dynamically updated; comprehensively evaluating the security risk level of the power grid according to the multi-dimensional analysis results of the electric power and electric quantity balance, the system power flow, the reactive voltage and the stability; according to the risk level assessment result, an optimization control strategy is generated in combination with optimization control with the minimum adjustment cost as the target, and a preset control mode of sequence control based on a preset priority or proportional control based on a sharing factor; and finally, the control strategy is issued to each energy storage node for execution. Therefore, by implementing the method, dynamic self-adaption and refined coordination of power grid safety control can be realized, and the coping capacity and the operation reliability of the power grid to high-proportion new energy access are effectively improved.

The invention provides a paperboard production steam pressure self-adaptive temperature control system and method based on order association, belongs to the technical field of paperboard production, and solves the problem that a steam pressure set value cannot be controlled according to an associated order when a conventional steam pressure temperature control system is used for paperboard production. Therefore, the technical problems of low steam pressure accuracy and poor energy-saving effect are solved. The paperboard production steam pressure self-adaptive temperature control system based on order association comprises an order information management device, a data analysis and processing unit and a data acquisition unit, the outside of the order information management device is in wireless communication connection with the data analysis and processing unit, and the outside of the data analysis and processing unit is electrically connected with the data acquisition unit. According to the invention, the order information management device obtains the order, and under the action of the data analysis processing unit, the data analysis processing unit calculates the approximately required steam pressure according to the characteristics of the order, and quickly adjusts the main adjusting valve to realize quick response.

The invention discloses an intelligent regulation and control method and system for an electric precipitator, and relates to the technical field of intelligent regulation and control, and the method comprises the steps: collecting data through a sensor, constructing an electric precipitation process mathematical model, and simplifying a deep learning model to obtain a state space model; estimating a current state parameter of the state space model based on sensor data, and recurring future output in combination with a deep learning model in a given prediction time domain and a control time domain; setting an adaptive weighted quadratic objective function of a tracking error and a control increment, and outputting a security constraint; and calculating an optimal control parameter sequence by using a genetic algorithm in combination with a target and constraints, executing first-order control, and updating control parameters in a rolling manner. According to the method, the control precision and the response stability of the electric dust remover are remarkably improved, the energy consumption of the system is effectively reduced, and the dust removal efficiency is improved. And meanwhile, the self-adaptability of the system is further enhanced, so that the system can always maintain efficient operation under different working conditions.

The invention relates to a method for determining the position of a motor, a phase-locked loop and a motor control system. The method comprises the following steps: acquiring a first counter electromotive force and a second counter electromotive force corresponding to the motor; the method further comprises the step of determining a position error between the actual position and the observation position of the motor according to the first counter electromotive force and the second counter electromotive force based on a multi-order control module, and the order of the multi-order control module is larger than 3. Further, the method includes determining an observed position of the motor based on the position error. As the multi-order control module can track high-order dynamic changes such as acceleration and jerk, dynamic lag errors caused by acceleration / deceleration of the motor can be eliminated. According to the method for determining the position of the motor provided by the embodiment of the invention, accurate prediction of the position of the motor can be realized when the motor is in any working condition, so that the stability and the reliability of a motor control system are improved.

A navigation information processing method, apparatus, and computer-readable storage medium for coordinating vehicle navigation with item ordering and preparation. The method displays a navigation interface with an order control for generating orders during vehicle navigation operations. Order information including the navigation destination is generated and displayed based on user operations. A first duration is determined from real-time remaining travel time to the navigation destination, while a second duration is determined from real-time preparation and delivery times of the target item. When the first duration is less than or equal to the second duration, a preparation state is generated and displayed to indicate the target item is in preparation, enabling synchronized timing between arrival and item preparation.

A computer-supported manufacturing method for manufacturing workpieces from a workpiece blank according to a manufacturing plan using a machine tool (18), has a processing device. The method includes at least partly transmitting the manufacturing plan by means of an order control device. At least one work piece is manufactured from the workpiece blank according to the manufacturing plan. The manufacturing progress of the processing device is determined during the manufacturing of the at least one workpiece by the order control device. The manufacturing plan is changed on the basis of the manufacturing progress during the manufacturing of the at least one workpiece by means of the order control device.

This disclosure relates to systems and methods for facilitating efficient load balancing in a network interface controller (NIC). A network interface controller (NIC) capable of efficient load balancing across hardware engines is provided. The NIC may be equipped with multiple ordering control units (OCUs), queues, selection logic blocks, and allocation logic blocks. The selection logic block can determine an OCU from the multiple OCUs for commands from the queues, which may store one or more commands. The allocation logic block then determines selection settings for the OCU, selects an egress queue based on the selection settings for the command, and sends the command to the egress queue.

According to embodiments of the present disclosure, a method, an apparatus, a device, a computer readable storage medium and a computer program product for an autonomous vehicle are provided. The method comprises: in response to the autonomous vehicle currently not being assigned a passenger order, determining a test order list associated with the autonomous vehicle; determining a target test order from the test order list based on an execution mode of the test order list; controlling the autonomous vehicle to travel towards a first starting point location of the target test order; and before the target test order is completed, in response to the autonomous vehicle being assigned a target passenger order, controlling the autonomous vehicle to travel to a second starting point location of the target passenger order to serve the target passenger order. Based on such a manner, embodiments of the present disclosure can improve the utilization rate of the autonomous vehicle.

The application provides a control method and a control system of a chopper converter, the chopper converter comprising a Buck converter and a Boost converter connected in series, the control method comprises the following steps: sampling an output voltage value and an output current value of the Buck converter, performing closed-loop adjustment based on the collected output voltage value and the output current value, outputting a control duty ratio of the Buck converter, and calculating a control duty ratio of the Boost converter based on the control duty ratio of the Buck converter, so as to control the output of the chopper converter; the application has the beneficial effects that the traditional four-order control system is changed into a two-order control system, the difficulty of control parameter adjustment is reduced, the calculation and configuration of the control margin are improved, the system response speed is improved, and the front-stage Boost converter and the rear-stage Buck converter are synchronously controlled in a closed loop, so that the output ripple and the EMI influence are effectively reduced.

The invention discloses a feasibility-enhanced robust safety critical control method. The method fully considers the influence of the non-matching disturbance on the system safety when the relative orders of the input and the disturbance are inconsistent. Unknown disturbance is estimated through a robust integral type nonlinear disturbance observer based on error symbol integration, and an estimation result is applied to a high-order control barrier function, so that the high-order safety of the system is ensured. Furthermore, according to the method, unknown terms in high-order control barrier function constraints are replaced by estimating disturbance and the lower bound of errors of the disturbance, and the unknown terms are embedded into a quadratic programming controller. For the feasibility problem possibly caused by multi-input and multi-obstacle function constraints, the method introduces a volume control obstacle function to quantify the feasible region volume, and further combines a disturbance observer with the volume obstacle function to ensure that the feasible region volume is always positive, thereby improving the feasibility of a controller when disturbance exists. By integrating the method, the unification of the system security and the multi-constraint compatibility is realized.

The invention relates to the technical field of information processing, and particularly discloses an order sorting control system for an unmanned intelligent kitchen, and the system comprises an automatic order receiving module which is used for obtaining order information of different channels, and carrying out the integration of all order information, and obtaining an integrated order list; the order analysis module is used for obtaining multiple pieces of dish cooking information according to the integrated order list, merging the same dish names in the dish cooking information to obtain dish cooking merging information, and obtaining dish arrangement cooking information according to the dish cooking merging information; and an order ordering module. According to the invention, multi-channel orders are integrated through the automatic order receiving module, information dispersion and chaos are avoided, a foundation is laid for subsequent processes, and the convenience and efficiency of order management are improved.

The present application relates to program control system technical field, specifically for a kind of thing internet of things intelligent multimedia integrated education table control method and system, including the following steps: receiving from thing internet of things intelligent multimedia integrated education table original event, the original event is remote forced intervention instruction, online examination task and user autonomous learning request, each event identifier is matched with the preset event priority definition table.Processing logic in the present application, through the structured priority identification of original event, remote intervention, examination task, autonomous learning and other multi-source events are classified by relying on static priority mechanism, realize the structural ordering control between tasks, improve the distinguishability of multi-task scheduling.Introduce preemption judgment mechanism under the priority driving, in combination with task context saving and resource exclusive judgment, form the dynamic switching strategy of condition trigger, so that terminal running logic has the traceability and preemption flexibility.

To provide an occupant condition detection device capable of reducing false detections.SOLUTION: An occupant condition detection device 1 comprises: a plurality of condition determination units 6 that detect mutually-different occupant conditions and levels of occupant conditions using occupant condition information; a propriety order recording unit 7 that records an order in which the plurality of condition determination units 6 operate; and a propriety order control unit 71 that determines the order in which the plurality of condition determination units 6 operate using the recorded order. When the predetermined condition determination unit 6 specified by the propriety order control unit 71 determines that the occupant condition information corresponds to an occupant condition that it can determine, the predetermined condition determination unit 6 determines the level of the occupant condition. When the predetermined condition determination unit 6 determines that the occupant condition information does not correspond to an occupant condition that it can determine, the next condition determination unit 6 in the order determines whether or not the occupant condition information corresponds to an occupant condition that it can determine.SELECTED DRAWING: Figure 4

The embodiment of the invention relates to the technical field of PCIe switches, in particular to a PCIe switch which comprises a plurality of port modules, and each port module comprises a message input unit, an arbitration unit and a message output unit. And the message input unit of the local port module caches the TLP messages to the first FIFO memory, performs order-preserving control on all the TLP messages, and sends an arbitration request to the arbitration unit of the target port module if detecting that the TLP messages meet order-preserving conditions. And if the TLP message meets the arbitration condition, the arbitration unit sends the TLP message to the message output unit of the target port module. And the message output unit caches the TLP messages to the second FIFO memory, performs order-preserving control on all the TLP messages, and outputs the TLP messages if the TLP messages meet the arbitration condition. According to the embodiment of the invention, through the above structure and order-preserving control, the secure transmission of the TLP message between any ports is realized, and the order-preserving requirement of the message is ensured to accord with a PCIe (Peripheral Component Interconnect Express) protocol.

A method for picking goods includes controlling a workstation to place the goods to be allocated corresponding to a plurality of orders to be processed on a buffer vehicle according to a category of goods to be allocated, controlling the buffer vehicle to move and pass through a plurality of target allocation points of an allocation station, and controlling, according to a category and quantity of target goods corresponding to an associated order, among the plurality of orders to be processed, associated with an order container at each target allocation point, an allocation object to allocate the target goods on the buffer vehicle into the order container, when the buffer vehicle passes through each target allocation point.

We provide a program development support system that enables the efficient use of resources. [Solution] Multiple functions to be tested are registered in an execution order queue. The automated test execution unit tests the function registered at the top of the execution order queue. A function association table associates each of the multiple functions to be tested with a submodule used when implementing the function or a test item to confirm the function's functionality. The execution order control unit has a function to change the order of testing of the functions registered in the execution order queue based on the function that did not meet the expected result and the function association table, if the test result from the automated test execution unit does not meet the expected result.

This application provides a method for controlling disorder of downlink data and an apparatus thereof. The method includes: A control plane network element determines to perform data transmission path switching. The control plane network element sends indication information to a path aggregation network element. The indication information indicates the path aggregation network element to send, after sending of downlink data of a first data transmission path is completed, downlink data of a second data transmission path. The first data transmission path is a data transmission path before switching, and the second data transmission path is a data transmission path after switching. Based on this solution, the control plane network element may indicate the path aggregation network element to send, after sending of the downlink data of the first data transmission path is completed, the downlink data of the second data transmission path, so that a problem of disorder of a downlink data packet in an anchor change procedure or a user plane connection activation procedure is resolved, thereby improving user experience.

The application relates to a game virtual asset management method and device, a storage medium and an electronic equipment. The game virtual asset management method comprises the following steps: in response to a placing order request for purchasing a target game asset in a target game for a target game character under a target game account of the target game on a third-party platform, determining at least one target activity corresponding to the target game asset, wherein the at least one target activity comprises a first activity of the third-party platform and / or a second activity of the target game; generating a purchase order according to the target game character, the target game asset and the target activity; and according to the purchase order, controlling the target game to issue the target game asset to the target game character. Therefore, the game asset purchase behavior on the third-party platform outside the game can accurately reach the game character in the game, and the accuracy of the game recharge outside the game is improved.

To provide a game machine capable of avoiding execution of a disorderly performance without any satisfaction for a player and avoiding cause of shortage in resources of a first sub-control section.SOLUTION: A slot machine 1 has a first sub-control section 63a and a second sub-control section 63b. The first sub-control section 63a can execute processing for determining a performance to be reported on the basis of a signal received from a main control section 61 or a game value number control section 62 as a higher-order control section. The second sub-control section 63b can communicate with the first sub-control section 63a, and can execute processing for reporting a performance determined to be reported by the first sub-control section 63a to a sub-liquid crystal screen 30. The slot machine 1 can execute order determination processing for determining notification order of multiple performances determined to be reported by the first sub-control section 63a. The order determination processing may be executed by the second sub-control section 63b without being executed by the first sub-control section 63a.SELECTED DRAWING: Figure 9

The embodiment of the invention provides an order processing method, device and system and control equipment, and relates to the technical field of robots, and the control equipment can respond to an obtained commodity order, and controls a robot to determine the position of a to-be-sold commodity included in the commodity order based on a predetermined commodity placement position; the robot is controlled to go to the determined position, and the to-be-sold commodities are sorted; and according to a delivery mode corresponding to the commodity order, delivering the selected to-be-sold commodity, and based on the commodity order, carrying out accounting on the sold commodity and updating the inventory. Under the condition that the commodity order is obtained, the control equipment can control the robot to select commodities. And after the sorting is completed, commodity delivery can be carried out by adopting a delivery mode corresponding to the commodity order. After the commodity order is completed, bookkeeping and inventory updating can be carried out, so that the processing of the commodity order can be completed by the robot in a shop.

The invention discloses a fusion image perception and variable-order fractional order motion control method, and belongs to the technical field of automatic control. The method comprises the following steps: establishing a sliding platform coordinate system; a target image is collected through binocular vision, and three-dimensional coordinates of a target object are extracted through median filtering, weighted equalization, edge masking and binarization processing; constructing an error function according to the target three-dimensional coordinates and the current position of the motor, and constructing a nonlinear order function in combination with target speed derivative information; the function is substituted into a speed ring of a three-ring control structure, a variable-order fractional order controller is adopted, a fractional order operator is quickly approached through improved polynomial fitting and dichotomy, an optimal control quantity is generated in real time to drive a three-axis motor, and high-precision tracking control over a target object is achieved. According to the method, image perception and variable-order control are deeply fused, and the tracking precision, the response speed and the adaptive capacity of the system in a complex dynamic scene are effectively improved.

The invention belongs to the technical field of large multi-axis linkage numerical control machining, particularly relates to a multi-spindle concurrent machining obstacle avoidance system and method based on digital twinning and CBF, and solves the problem that multi-spindle dynamic obstacle avoidance behaviors cannot be intelligently coordinated. The system comprises a digital twin mapping unit which is used for simulating a material removal process in real time and updating a dynamic geometric model of a workpiece; the hierarchical state observation unit is used for calculating the minimum directed distance between each main shaft and a workpiece and between the main shafts and the gradient of the minimum directed distance in real time by adopting algorithms such as an octree and GJK; and the safety barrier control unit is embedded in an interpolation period of the numerical control system, constructs a high-order control barrier function constraint with the relative order being two by using the distance information, and generates a correction control instruction which is safe and is as close as possible to an original instruction by solving a quadratic programming problem on the premise of fully considering the dynamic limitation of a machine tool shaft system. And the real-time, dynamic and collision-free machining effect is achieved when the multiple spindles cooperatively work in the narrow space.

The invention provides a read-write sequence control system and method and electronic equipment, the read-write sequence control system comprises a plurality of processor cores and a memory controller, the plurality of processor cores comprise a main processor core and a slave processor core; the main processor core is used for analyzing an instruction stream of a target program, identifying a vector instruction in the instruction stream and determining a plurality of groups of dependency pairs; distributing a unique execution mark for each group of dependency relationship pair; the slave processor core is used for receiving the vector instruction distributed by the master processor core and generating a read-write request and a vector instruction packet based on the vector instruction; and the memory controller is used for sequentially processing the read-write request corresponding to each vector instruction in each group of dependency relationship pairs based on the execution mark. Therefore, the problem of data read-write errors caused by out-of-control vector instruction dependency and out-of-order read-write requests in a multi-processor core computing system is solved, and the reliability of data read-write is improved.