First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter ...First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.展开更多
To avoid the secondary frequency dip caused by the steep drop of the electrical power of wind turbines(WTs)at the end of frequency support stage,the torque limit-based iner-tial control(TLIC)method sets the power refe...To avoid the secondary frequency dip caused by the steep drop of the electrical power of wind turbines(WTs)at the end of frequency support stage,the torque limit-based iner-tial control(TLIC)method sets the power reference as a linear function of rotor speed,rather than the step form for the step-wise inertial control.However,the compensation effect on the frequency nadir(FN)caused by the load surge is weakened as the TLIC power is no longer in the step form.Specifically,the maximum point of the frequency response component(FRC)contributed by TLIC occurs earlier than the minimum point of FRC corresponding to the load surge,so that the FN cannot be adequately raised.Therefore,this paper first investigates the relation between the peak and nadir times of FRCs stimulated by the TLIC and load power.On this basis,with the compensation principle of matching the peak and nadir times of FRCs,the improved TLIC method based on delayed support is proposed.Finally,the effectiveness of the proposed method is validated via the experiments on the test bench of wind-integrated power system.展开更多
基金Supported by Beijing Municipal Natural Science Foundation Committee and the High Technology Research and Development Programme of China （No.2003AA404140）.
文摘First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.
基金supported by the National Natural Science Foundation of China(No.51977111)the“Six Talent Peaks”High-level Talent Project in Jiangsu Province(No.XNY-025)+1 种基金the Special Fund of Jiangsu Province for Transformation of Scientific and Technological Achievements(No.BA2019045)the Jiangsu Qinglan Project。
文摘To avoid the secondary frequency dip caused by the steep drop of the electrical power of wind turbines(WTs)at the end of frequency support stage,the torque limit-based iner-tial control(TLIC)method sets the power reference as a linear function of rotor speed,rather than the step form for the step-wise inertial control.However,the compensation effect on the frequency nadir(FN)caused by the load surge is weakened as the TLIC power is no longer in the step form.Specifically,the maximum point of the frequency response component(FRC)contributed by TLIC occurs earlier than the minimum point of FRC corresponding to the load surge,so that the FN cannot be adequately raised.Therefore,this paper first investigates the relation between the peak and nadir times of FRCs stimulated by the TLIC and load power.On this basis,with the compensation principle of matching the peak and nadir times of FRCs,the improved TLIC method based on delayed support is proposed.Finally,the effectiveness of the proposed method is validated via the experiments on the test bench of wind-integrated power system.
