Coordinated control strategy for robotic-assisted gait training with partial body weight support

Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.

Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System

In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.

Improved Voltage Control Strategy for Photovoltaic Grid-Connected System Based on DoubleLayer Coordination Control

An improved automatic voltage coordination control strategy （AVCCS） based on ;automatic voltage control （AVC） and battery energy storage control （BESC） is proposed for photovoltaic grid-connected system （PVGS） to mitigate the voltage fluctuations caused by environmental disturbances. Only AVC is used when small environ- mental disturbances happen, while BESC is incorporated with AVC to restrain the voltage fluctuations when large disturbances happen. An adjustable parameter determining the allowed amplitudes of voltage fluctuations is introduced to realize the above switching process. A benchmark low voltage distribution system including ]？VGS is established by using the commercial software Dig SILENT. Simulation results show that the voltage under AVCCS satisfies the IEEE Standard 1547, and the installed battery capacity is also reduced. Meanwhile, the battery＇s service life is ex- tended by avoiding frequent charges/discharges in the control process.

Optimal design of coordination control strategy for distributed generation system

This paper presents a novel design procedure for optimizing the power distribution strategy in distributed generation system. A coordinating controller, responsible to distribute the total load power request among multiple DG units, is suggested based on the conception of hierarchical control structure in the dynamic system. The optimal control problem was formulated as a nonlinear optimization problem subject to set of constraints. The resulting problem was solved using the Kuhn-Tucker method. Computer simulation results demonstrate that the proposed method can provide better efficiency in terms of reducing total costs compared to existing methods. In addition, the proposed optimal load distribution strategy can be easily implemented in real-time thanks to the simplicity of closed-form solutions.

A Fuzzy Hierarchical Strategy for Improving Frequency Regulation of Battery Energy Storage System

Battery energy storage systems(BESSs)can provide instantaneous support for frequency regulation(FR)because of their fast response characteristics.However,purely pursuing a better FR effect calls for continually rapid cycles of BESSs,which shortens their lifetime and deteriorates the operational economy.To coordinate the lifespan savings and the FR effect,this paper presents a control strategy for the FR of BESSs based on fuzzy logic and hierarchical controllers.The fuzzy logic controller improves the effect of FR by adjusting the charging/discharging power of the BESS with a higher response speed and precision based on the area control error(ACE)signal and the change rate of ACE in a non-linear way.Hierarchical controllers effectively reduce the life loss by optimizing the depth of discharge,which ensures that the state of charge(SOC)of BESS is always in the optimal operating range,and the total FR cost is the lowest at this time.The proposed method can achieve the optimal balance between ACE reduction and operational economy of BESS.The effectiveness of the proposed strategy is verified in a two-area power system.

Comparisons and Improvements of Key Operating Characteristics of Current Source Converter Applied in HVDC System

Because of its controlled power factor and no commutation failure,current source converter(CSC)made up of reverse-blocking IGCTs(RB-IGCTs)offers broad application prospects in the field of HVDC system.Valve voltage and power operating range as the most important operating characteristics should be paid attention to but they are always contradictory.First,the relationship between valve voltage and modulation index is obtained.In particular,valve voltage of converter under the three typical modulation methods is compared,analyzed,and verified.Second,with the help of the independent control strategy and coordinated control strategy of both ends,power operating ranges of the three modulation methods are comprehensively analyzed and compared.Third,in order to solve power coupling at a low active power,the improved coordination control strategy at both ends in this paper is proposed and the relationships among active power,reactive power,DC current and phase angle difference are given in detail.Finally,a 500 kV/3 kA simulation system was built in PSCAD/EMTDC to obtain comparison results of the key operating characteristics of CSC under different modulation methods and the converter can realize unity power operation under random active power after adopting the improved coordinated control strategy,and DC current does not decrease to zero,verifying effectiveness of the coordinated control strategy.