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随着全球化生产的形成，竞争的压力越来越大，制造企业也从传统的大批量生产转向单件、小批量的生产，用户需求多样化，个性化，这使得企业变得越来越复杂。传统企业采用的递阶式控制结构已无法对多变的市场环境作出响应，而现在比较流行的分布式结构由于技术条件的限制，还存在许多不足。本文提出了一种适度递阶的协同控制方法，它综合了递阶式和分布式控制的优点，因而具有更强的生命力。同时还给出了相应的控制基本结构和控制机理。
With the globalization of production, the pressure of competition is getting bigger and bigger. Manufacturing enterprises also shift from traditional mass-production to single-piece and small-batch production. The diversification and individualization of users’ needs make the enterprises become more and more complex. The traditional hierarchical control structure adopted by enterprises has not been able to respond to the changing market environment. However, due to technical limitations, the more popular distributed structures still have some shortcomings. This paper presents a moderately hierarchical collaborative control method, which combines the advantages of hierarchical and distributed control, which has more vitality. At the same time, the corresponding control basic structure and control mechanism are also given.