70 results about "Coordination layer" patented technology

The invention discloses a vehicle cooperative formation driving system, belonging to the field of vehicle network-connected automatic driving. The vehicle cooperative formation driving system comprises a network layer, a link layer, a coordination layer, a control layer and a physical layer from top to bottom; wherein a vehicular unit in the network layer is communicated with a wireless router inthe link layer through a wireless network; the wireless router is communicated with a central service unit CSU and a road side unit RSU respectively through Ethernet; and the ZeroMQ communication is adopted by the central service unit CSU and the road side unit RSU. The vehicle cooperative formation driving system adds low cost vehicular sensors such as vision and millimeter wave radars, and integrates perception fusion, path planning and decision control into a same software architecture, so as to integrate vehicle road environment information, and achieve reliable vehicle formation driving function through high precision controllers; the vehicle cooperative formation driving system is in line with the development trend of the network-connected vehicle formation driving, which is highly modular and easy to expand function; and the decentralized following strategy can reduce the impact of network communication uncertainty.

The invention discloses a new-energy-consumption-based source-grid-load coordination control method and system. On the basis of continuous increasing of a new energy scale and occurrence of a novel controllable load, overall cooperative dispatching is carried out on dispersed controllable loads in a region by using a multi-element coordination control technique, thereby realizing characteristic complementation between the several kinds of energy and controllable loads and thus realizing source-grid-load interaction. According to the invention, the new-energy-consumption-based source-grid-load coordination control system is divided into a whole network optimization scheduling layer, a regional monitoring and coordination layer, a local monitoring and control layer, and a primary equipment layer. With utilization of the network communication, data processing and coordinated control technologies, the system provides a technical base for a novel integrated operation mode of regional multi-energy power generation and production, load electricity usage and grid operation by taking improvement of the consumption capability of the new energy of the grid as an objective.

The invention discloses a swarm-robot control method. The swarm-robot control method includes acquiring information of single robot terminals; planing and navigating movement of the single robot terminals according to the information of the single robot terminals; and transmitting movement planning and navigating information to the single robot terminals and controlling the single robot terminals to cooperatively move. The invention further discloses a swarm-robot controller and a controller terminal. The swarm-robot controller comprises a coordination layer, a management layer and an execution layer. The forecast weighted layering information technology is adopted, Mesh networking is carried out via a wireless communication module, by the aid of the method, a control system of swarm robots and individual characteristics of the robots are organically combined, the single robot terminals are controlled to cooperate, accordingly, the advantage that the swarm robots interact and cooperate with each other without manual intervention is realized, work efficiency of collective cooperation of the swarm robots and accuracy and stability of operation in special environments are improved, and collective task execution time of the swarm robots is shortened.

The invention provides a distributed power stratified coordination control system of a microgrid and a method of the distributed power stratified coordination control system of the microgrid. The system comprises a distributed control layer, a local coordination layer and a remote management layer; a controller of the distributed control layer collects information, uploads the information to the local coordination controller of the local coordination layer, and then, uploads the information to an acquisition controller of the remote management layer by the local coordination controller; and a workstation of the remote management layer gives a plan running command to the local controller, and then, the local controller performs coordination control and gives the plan running command to the controller. The system scientifically manages distributed power, stored energy and load in the microgrid, plans power generation dispatching, achieves rational power supply, satisfies load power supply requirement of the microgrid, effectively solves operation reliability problem of the power distribution network, satisfies trait power requirement of the specific user, improves comprehensive utilization efficiency of all kinds of energy, and has great social and economic benefits.

A modular multilevel converter for hybrid energy storage includes three phases connectable in series to a battery, and in parallel to one another. Each phase includes at least two arms of sub-modules and buffer inductors, and each of the sub-modules comprises a half-bridge and an ultracapacitor. A two layer controller, including a coordination layer and a converter layer, is configured to independently control battery output power and ultracapacitor output power, and to distribute a power load between the battery and the ultracapacitor to optimize the performance of a hybrid energy storage system.

The invention discloses a method for realizing parallel load flow computation based on a multi-core computer in power grid. The method comprises two-stage scheduling, wherein the first-stage scheduling realizes division and cooperation of load flow computation task, and the second-stage scheduling performs fine division to the computation task, in the multi-core computer, subtasks can be parallelly calculated, and after several iterative convergences, the computation results are collected and outputted by a coordination layer. The invention adopts the parallel computation and maximally utilizes the computation resource in virtual organizations, so that the computation speed is faster and the cost is lower.

The invention discloses a distributed computation based voltage stability assessment method of sub-networks in an interconnected power network. The distributed computation based voltage stability assessment method comprises the following steps: firstly establishing a simplified external network model which only reserves a regional interconnection line on sub-networks in the interconnected power network; then calculating load margin by a continuation power flow (CPF) method in the main sub-network performing voltage stability assessment calculation, and then calculating by a Newton load flow method under coordination of the other neighboring sub-networks; and by means of voltage information exchange and coordination calculation of boundary nodes in outer loop, continuously correcting equivalent injection power of the boundary nodes outside the sub-networks so as to finally and locally obtain the sub-network load margin which is consistent with the result of whole network unified computation at the main sub-network. The voltage stability assessment method has the beneficial effects that by adopting the simplified external network model of the sub-networks, the Ward equivalent process is avoided so as to reduce the participation degree and calculated quantity of a coordination layer; the calculation mode is basically consistent with that in the current EMS (energy management system), and the independent calculation precision of each sub-network is higher; and voltage stability support and impact of an external power network on an internal power network can be better considered.

The invention relates to a flat machine numerical control system based on a field programmable gate array (FPGA) high-speed communication method. The flat machine numerical control system comprises a management layer with an ARM module, a coordination layer with a DSP module and an FPGA module and an execution layer, and is characterized in that a dual-port RAM high-speed communication module is arranged between the ARM module and the FPGA module and is provided with independent valid read / write pins. The invention has the following obvious substantive characteristics: the dual-port RAM high-speed communication module is arranged and is provided with the independent read / write pins, so that signals of each layer are matched and are prevented from holding time and conflicting; and the data communication efficiency between the management layer and the coordination layer is improved by a method of adopting abundant logical resources in the FPGA module to realize dual-port RAM high-speed communication in a software programming mode, thus the weaving efficiency is improved. By adopting the control method of the control system, the communication speed is improved, and the control system has the characteristics of strong anti-interference performance, good generality and the like.

The present invention provides a construction method of a coordination layer in a software defined network (SDN) architecture, belonging to the technical field of computer application. According to the method, a centralized coordination layer, that is an OpenFlow coordinator, is added between a control layer and a forwarding layer, so that multiple SDN controllers in the control layer cooperate with each other to share service load of the control layer, therefore, an OpenFlow control flow is scheduled flexibly among multiple application heterogeneous controllers, the demand of a manger in an actual network is met, and the availability and reliability of the whole SDN system are improved.

The invention relates to an intelligent restaurant management system based on an Internet of things technology, and is applied to the field of electronization and automation of the catering service industry. The intelligent restaurant management system comprises four layers of structures, namely a restaurant data acquisition layer, a data coordination layer, a data processing layer and a restaurant system application layer from bottom to top, wherein a bottom layer sensor node is used for acquiring environment information of a restaurant such as table information, radio frequency identification (RFID) card identity information and temperature and humidity of a restaurant and sends the acquired information to data coordination equipment through a ZigBee wireless communication network for processing; the data coordination layer performs basic processing on the received data and sends the processed data to an upper computer database and an application end through wifi; the upper computer database and the application end feed back the processed data and serve in various types of function application; and therefore, functions of displaying empty table information, reserving tables, intelligently ordering dishes, managing orders, monitoring kitchens, monitoring people, supplying membership service, automatically settling bills and the like can be realized. Human resources are saved; and cost is greatly reduced.

The invention relates to a power flow determination method of an alternating current and direct current system containing multi-terminal high voltage direct current transmission. The method includes the following steps that the hybrid power system containing multi-terminal high voltage direct current transmission is decomposed; power flow computing is conducted on sub-systems in the decomposed power system, and feature data are determined; boundary parameters of a coordination layer in the decomposed power system are amended so as to achieve global convergence. The method makes full use of the advantages of distributed parallel computing in large power network analysis computing, power flows are computed by all alternating current sub-systems separately, the feature date of sub-regions are introduced into boundary points, and the boundary parameters are amended in the direct current coordination layer to achieve global convergence. By means of the method, the convergence of power flow computing of the alternating current and direct current hybrid system is improved, the computing speed of the alternating current and direct current hybrid system is increased, and the practical level of power flow computing software in the current actual power grid and future power grid is improved.

A hybrid ultracapacitor-battery energy storage system is integrated with a photovoltaic system to help solve fluctuations. A fuzzy-logic-based adaptive power management system enables optimization of the power / energy distributions and a filter-based power coordination layer serving as a rudimentary step for power coordination among the hybrid storage system and a fuzzy-logic-based control adjustment layer that keeps monitoring the operation status of all the energy storage devices, taking into account their dynamic characteristics, and fine-tuning the control settings adaptively.

The invention provides a low-frequency and low-voltage load-reducing control method based on a multi-agent technology, which comprises two processes carried out simultaneously, wherein, in process 1, a local reaction layer triggers a device to act and implement load-shedding control after judging the device meets an action condition according to the measured state quantity information in real time such as local voltage, frequency and the like; and the process 2 comprises the following steps: 1. the local reaction layer uploads the local state quantity information and the actual load-shedding capacity of the device to local coordination layers; 2. the local coordination layers upload a data analysis result to sub-region coordination layers; 3. the sub-region coordination layers calculate local deloading and weighting coefficients for the local coordination layers, and meanwhile upload an information analysis result to a total-network coordination layer; and 4. the total-network coordination layer gathers information uploaded by the sub-region coordination layers, calculates sharply reduced indexes of power-receiving power of a power grid and sub-region deloading and acceleration coefficients for the sub-region coordination layers, sends the indexes and the coefficients to the sub-region coordination layers, and finally sends to the local coordination layers from the sub-region coordination layers.

The invention relates to a method for determining a power system parallel load flow based on heuristic automatic network partitioning, which comprises the following steps: partitioning distribution network; generating the admittance matrixes of the partitioning nodes, the power flow calculation constant-jacobian matrix and the voltage-power sensitivity matrixes of virtual generators in partitions, sending the voltage-power sensitivity matrixes to a coordination layer; sending initial voltage magnitude and phase angle of virtual engines at the split points by the coordination layer; carrying out power flow calculation on the partitions, sending output power of the virtual engines to a coordination server; judging whether the boundary coordination quantity precision is met or not according to the mismatch quantity of the sum of output power of two virtual engines at the split points by the coordination layer, if no, correcting the voltage of the partitioning points, sending the corrected result to sub-areas, skipping to the last step, and otherwise, skipping to the next step; outputting the data result. The determining method has good convergence, high calculation speed, less memory occupied rate and calculation convenience and flexibility.

The invention discloses an LCD device and a manufacture method thereof. The manufacture method comprises the following steps: first of all, providing a first substrate and a second substrate parallel to each other; secondly, blending and sealing a liquid crystal coordination compound and a dielectric anisotropic negative type liquid crystal material between the first substrate and the second substrate, further the liquid crystal coordination compound is an Acrylic monomer with a single-functional base; and then polymerizing the liquid crystal coordination compound to form a first coordination layer and a second coordination layer on the first substrate and the second substrate respectively. Since the liquid crystal coordination compound only has the single-functional base, the chemical construction is simpler, the price is low, and the vertical coordination is stable.

The present invention relates to a coordinated control method for the wind power plant of a double-fed fan to participate in the one-time frequency modulation of a power system and belongs to the operation and control technical field of the power system. The method comprises the steps of establishing energy status evaluation indexes and power generation level evaluation indexes for fans; setting a communication coefficient matrix between fans; measuring the frequency of the coordination layer of the wind power plant and generating the reference value of the output power of the wind power plant; exchanging power generation level evaluation indexes between adjacent fans, conducting the Newton iteration through the outer loop iteration method, and tracking a reference value generated by the coordination layer; during each iteration step, calculating the approximate Newton direction of the step by each fan through the inner loop recursion method. In this way, the necessary information is provided for the outer loop iteration operation. According to the technical scheme of the invention, the stored kinetic energy of a double-fed fan can be fully utilized, and a coordinated control system is designed to reduce the computational burden of the coordination layer. Meanwhile, based on the second-order convergence of the distributed Newton method, the rapid primary frequency modulation of the overall wind power plant is realized. At the same time, the power can be reasonably distributed among fans, so that the safe operation of the fans is ensured.

The invention discloses a method using an intelligent hybrid model to describe the operational process of a high-speed train group. In the method, the model is divided into three layers, i.e. a static layer, a dynamic layer and a coordination layer. The static layer mainly comprises stations and lines; the dynamic layer mainly comprises trains; and the coordination layer is mainly used for regulating the whole road network transport organization. According to the model, a model for stimulating the train operational process under movable block is established. The invention provides a set of reliable basis for regulating the operation and ensuring travelling speed and operational security of trains groups; and meanwhile, the invention also provides basis for preparing efficient railway operation charts and ensuring safe, on-time and efficient operation for railway trains.

The invention discloses a distributed circular machine control system based on STM 32 and FPGA. The distributed circular machine control system comprises a management layer, a coordination layer and an execution layer. The management layer reads pattern data files in a USB storage device through a USB device interface driving chip, stores pattern data into a static data storage device and then starts a circular machine rotating motor, a Hall sensor and an optical-electricity encoder which are arranged on a circular machine transmit circle signals, needle signals and speeds of the circular machine at the present to the management layer through the coordination layer, the management layer reads the pattern data in the static data storage device according to the circle signals and the needle signals at the present and transmits corresponding movement data to the execution layer through the coordination layer, the execution layer carries out analysis on the transmitted data and controls a needle selector, an air valve, and a stepping motor arranged on the circular machine to move according to demands, and therefore jacquard weaving work can be finished. The distributed circular machine control system based on the STM 32 and the FPGA improves stability, reliability and parallel control performance.

The invention provides a coordination layer of coordinating entities provided intermediate the admission control interfaces of the transport network domains, and any QoS signaller which signals QoS requests on behalf of the application layer. The coordination layer acts to distribute an admission control request across the multiple transport network domains by the use of coordination request messages containing the admission control request being forwarded through the coordination layer of coordinating entities. At each coordinating entity the admission control request is passed on to the admission control interface of the transport network which the coordinating entity serves, and an admission control response obtained. This admission control response is then combined with admission control responses from the other domains which are propagated through the coordination layer via coordination messages. The result is that the coordination layer acts to combine the various admission control responses into a combined response, which can be provided back to the QoS signaller (or other requesting entity). Thus, coordination of admission control across multiple transport network domains is achieved, without a QoS signaller having to contact each individual domain.

The invention discloses a method for constructing a distributed dynamic power flow computing system for energy management of an electric power system, belonging to the technical field of energy management of electric power systems. The method comprises the following steps of: setting a distributed computing coordination layer in a superior scheduling center, and setting a distributed computing subsystem in an inferior scheduling center. The system comprises three modules, i.e., a network communication module, a system management module and a computing management module, wherein the network communication module is realized by adopting a relatively mature CORBA (Common Object Request Broker Architecture) technology in the distributed field and meets the requirement of a coordinating layer and a subsystem on data exchange; the free entrance or exit of a subsystem is realized by the system management module; the subsystem can be used for controlling the allocation and the release of the internal memory of the coordination layer to solve the problem of starting of power flow computation; and the computing management module is used for realizing procedure management of power flow computation and solving the problem of transmission of link line boundary information during data exchange by forming a node mapping table of a link line local node number and a coordination layer node number. The method meets the requirement of practicability.

The invention provides a method of video multiple target detection and tracking based on multi-agent MAFS by researches on video detection and tracking technology and inter-multi-agent concurrent collaboration technology, comprising 4 parts: pretreatment, object detection, object identification and object tracking; a MAFS coordination and protocol module is added to control the object detection, object identification and object tracking; the MAFS coordination and protocol module is constructed in the following way: 1. constructing a MAFS-NAL(network adaptation layer) suited to different bottom-layer networks, which provides a transparent communication environment for upper-layer application; 2. constructing a MAFS-ACL(Agent coordination layer) of the MAFS coordination and protocol module, which provides interaction and management between Agents, supports task allocation and neighbor discovery operation and realizes loose coupling between Agents and administrators and automatic distribution and looking up mechanism of the Agents; 3. constructing a MAFS-SL (semantic layer) of the MAFS coordination and protocol module, which provides a uniform description based on XML language for video application.

The invention relates to a power distribution network optimizing and controlling method based on an MAS (Multi-Agent System) technology. The method comprises the steps that: 1, a management layer intelligent agent makes a system overall optimization strategy and issues a command to a coordination layer intelligent agent; 2, the coordination layer intelligent agent makes an optimization strategy for the administrated area and transmits the command and information; 3, an executive layer intelligent agent analyzes the operating status of controllable devices, and making a control decision. According to the power distribution network optimizing and controlling method based on the MAS technology, the multi-intelligent-agent system is divided into layers and areas, and thus system requirements on local control and overall coordinating optimization of the power distribution network are met, implementability and expansibility of the MAS technology in the field of intelligent power distribution are ensured by the use of LEAP, and thus laying a solid foundation for large-scale popularization and application. The power distribution network optimizing and controlling method based on the MAS technology is applicable to multiple applications in the power distribution system, such as voltage reactive power optimization, fault repair and self-healing control.

The invention discloses a locomotive adhesion control method based on dynamic axle load transfer compensation and multi-axis coordination. One set of virtual three-layer distributed adhesion control system is established, wherein the first layer is a torque distribution layer used for dynamically adjusting a given torque according to a calculated axle load transfer amount; the second layer is a dynamic inter-axle coordination layer used for selecting the earliest idling axle of a locomotive as a main control axle and selecting other axles as slave control axles; and the third layer is an adhesion control layer used for recognizing rail surface on the basis of a support vector machine; the current rail surface state is recognized by using the support vector machine; and adhesion control strategies of the main control axle and the slave control axles are correspondingly designed for different rail surface states. According to the locomotive adhesion control method based on dynamic axle load transfer compensation and multi-axis coordination, a traction control strategy of a heavy-duty electric locomotive is optimized, and the thought of the support vector machine is integrated into the rail surface recognition. According to the locomotive adhesion control method based on dynamic axle load transfer compensation and multi-axis coordination, as one set of dynamic main and slave adhesion control method is designed, the idling frequency of the locomotive is reduced, and the adhesion utilization of the whole locomotive is enhanced.

A system and method for controlling the amount of torque generated by at least torque generating device in a vehicle is provided. A vehicle layer transmits arbitrated torque request signals indicative of first and second amounts of torque and at least one torque reservation request signal indicative of whether the vehicle is in an anticipated vehicle dynamic state or in a non-anticipated vehicle dynamic state. A coordination layer controls the torque generating device to generate the first amount of torque in response to the arbitrated torque request signal and the torque reservation request signal indicating that the vehicle is in the non-anticipated vehicle dynamic state. The coordination layer controls torque generating device to generate the second amount of torque in response to the arbitrated torque request signal and the torque reservation request signal indicating that the vehicle is in the anticipated vehicle dynamic state.

The invention discloses a distributed power flow algorithm of an AC-DC system based on modeling of a DC tie line on a coordination layer. The algorithm comprises the following steps of (1) calculatingexternal network equivalent parameters of various subsystems, wherein the DC tie line is not included in the calculation process of the external network equivalent parameters; (2) calculating AC boundary node state quantity combination parameters of the subsystems according to AC boundary node impedance matrix diagonal elements, carrying out power flow initialization calculation of a DC system through the coordination layer, transmitting DC active power and DC reactive power to AC subsystems, correcting injection power of an AC bus connected with a converter station through the subsystems andcarrying out power flow initialization calculation of the subsystems; and (3) carrying out independent power flow calculation of the AC subsystems and alternately carrying out inner iteration and outer iteration until distributed power flow is converged. The problems, such as converter transformer transformation ratio adjustment and control mode conversion caused by changes of operation conditions, of the DC system are conveniently solved.

The invention relates to the technical field of energy power, and discloses an energy Internet cluster operation dispatching method and system based on an Internet-of-Vehicles platform. The energy Internet cluster operation dispatching method comprises the steps: the current date load is predicted through an Internet-of-Vehicles platform dispatching control layer, and according to the prediction result, an electric energy supply and demand scheme is formulated; inter-area and intra-area electric energy dispatching schemes are formulated by an Internet-of-Vehicles platform coordination layer according to the electric energy supply and demand scheme, and electric energy is dispatched; and charging users determine charging prices at charging piles, and the charging priority order is determined according to the charging prices through charging pile cluster control to conduct orderly charging and discharging. According to the schemes, production behaviors of distributed power supplies are automatically optimized through price signals, the reliability, stability and economy of the system are improved advantageously, and the difficulty of dispatching control of the system is lowered; thedispatching schemes at different levels are formulated, and thus dispatching is optimized; and distributed renewable energy and distributed energy storage systems are promoted to be further developed,and contributions to energy transition and environment protection are made.

The invention discloses multi-manufacturer OTN business configuration end-to-end intercommunication systems based on an SDN (Software Defined Network). A system comprises an application layer, a cooperation layer, a management control layer and an equipment layer. The equipment layer comprises each network element in an OTN network. The management control layer comprises a plurality of network element controllers and a plurality of EMSs (Network Element Management Systems). The coordination layer comprises a network cooperator. The application layer comprises an OSS / BSS (Operation Support System / Business Support System). Through connection of the EMSs and the network element controller, the network element controllers and network elements are decoupled; through connection of the network element controllers and the network cooperator, the network element controllers and the cooperator are decoupled; and network managers of different manufacturers realize end-to-end opening of business and two network managers do not need to configure data sectionally, so a manual operation process for operation and maintenance is reduced.

The invention discloses a multi-industrial-manipulator controller based on a double-layer CPG (central pattern generator). A structure similar to a layered neural network, which the ganglion controlling activities of invertebrates has and which a central nervous system controlling activities of vertebrates has, is adopted, features of a multi-industrial-manipulator control system and those of a single industrial manipulator are combined, and collective coordination and information interaction of multiple industrial manipulators are efficiently synergic. Flexible joints and a rich sensor system are adopted, information utilization rate of the multiple industrial manipulators is increased, and the joints of the industrial manipulators are effectively controlled, so that the system has high reliability and stability. The sensor system has the ability of autokinetic movement while the industrial-manipulator is enabled to have sufficient dynamic performance and degree of freedom. The multi-industrial-manipulator controller is composed of a phase coordination layer and a motion pattern generation layer; the phase coordination layer allows phase sequence locking for each industrial manipulator; the motion pattern generation layer allows trajectory planning and attitude adjustment for each industrial manipulator.

The invention discloses a construction method of a distributed tide computing system graphics platform based on WEB-SVG (Scalable Vector Graphics), and belongs to the technical field of electric system energy management. The method comprises the steps that a distributed computing model is established; a power grid model is led into a local hierarchic database; an original SVG data file in an EMS (Engine Management System) is led out; an SVG file with interactivity is generated; a local real-time database model is updated in real time; graphics and model integration is realized; an Apache server is deployed as a control center of a whole WEB release system; communication is realized between subsystems and a coordination layer by a common object request broker architecture (CORBA) port by adopting a decomposition coordination mode; a distributed tide computing main program is developed; and a system management part and a computing part are mutually independent. The method achieves display of complex graphics and refreshing of real-time data, and is applied to distributed tide computing first; a practical graphics platform construction method is provided for a distributed computing system; and a foundation is laid for popularization and application of the distributed computing system.