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.

Ecological and Environmental Protection Requirements in China s Regional Coordinated Development Strategy in the New Era

Starting from the historical evolution of China s regional coordinated development policy and practice,three stages of"enlightenment stage","development stage"and"maturity stage",as well as the connotation,characteristics and content of implementing regional coordinated development strategy were analyzed.On this basis,from different aspects of industrial distribution,pollutant characteristics and regional environmental protection policy,the existing ecological and environmental protection problems in China s regional coordinated development in the new era were analyzed,and some suggestions for the next step were put forward.It is necessary to follow the"four ones"concept from the overall point of view,implement"three lines and one list"from the perspective of the width of the access red line,strengthen"joint prevention and control"from the perspective of the depth of regional regulation,deepen the"planning environmental impact assessment"from the perspective of the breadth of industrial distribution,and promote the"green-way model"from the perspective of ecological low carbon.

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.

Regional Evolution Features and Coordinated Development Strategies for Northeast China

Northeast China, as the most important production base of agriculture, forestry, and livestock-breeding as well as the old industrial base in the whole country, has been playin a key role in the construction and development of China＇s economy. However, after the policy of reform and open-up was taken in China. the economic development speed and efficiency ofthis area have turned to be evidently lower than those of coastal area and the national average level as well, which is so-called ＇Northeast Phenomenon＇ and ＇Neo-Northeast Phenomenon＇. In terms of those phenomena, this paper firstly reviews the spatial and temporal features of the regional evolution of this area so as to unveil the profound forming causes of ＇Northeast Phenomena＇ and ＇Neo-Northeast Phenomena＇. And then the paper makes a further exploration into the status quo of this region and its forming causes by analyzing its economy gross, industrial structure, product structure, regional eco-categories, etc. At the end of the paper, the authors put forward the basic coordinated development strategies for Northeast China. namely we can revitalize this area by means of adjustment of economic structure, regional coordination, planning urban and rural areas as a whole, institutional innovation, etc.

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.

Game Theory Based Decision Coordination Strategy of Agricultural Logistics Service Information System

Under the background of“Internet plus”rapid development,the agricultural logistics industry should apply information technology to every link of the agricultural product logistics industry chain.By making full use of the decision making module of the agricultural logistics information system,we can realize the full sharing of information and data resources,which makes the decision-making scheme of the agricultural logistics information system more optimized.In real economic society,the uncertainty and mismatch between the customer’s logistics service demand and the logistics service capability that the logistics service function provider can provide,that is,when the two information are asymmetric,how to use the third-party contract to coordinate the income and profit distribution of the two,to make the information system decision making more reasonable?This paper mainly studies the coordination scheme of agricultural logistics information system decision making under uncertain output and demand information by introducing the spot market.A joint coordination strategy based on revenue sharing and penalty feedback contracts proposes decentralized decision making based on game theory.Experiments show that the flexible ordering strategy proposed in this paper can reduce the logistics service supply chain’s uncertainty and significantly improve the logistics service supply chain’s overall income level through coordination contracts.

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.

Planning Method and Coordinated Operation Strategy for Multi-station Integration System

A multi-station integration system(MSIS)integrat-ing other multi-type stations provides a new way to realize an intensive development of resources and promote low-carbon en-ergy and its high-efficiency utilization.To this end,a novel multi-station integration planning method and coordinated operation strategy model for the MSIS are established in a new business model.In this study,a new business model of the MSIS,with substations as the carrier,integrating distributed photovoltaic,energy storage,electric vehicle charging,data center,and 5G base stations is proposed.From the social environment,natural conditions,and complementary characteristics,a comprehensive index system is established to analyze expansion capability of substations and multi-station combination scheme.Scenario reduction is performed by extracting feature vectors and build-ing a comprehensive evaluation function to select the optimal combination scheme under a specific scenario.Moreover,for the combination scheme in a specific scenario,the optimal ca-pacity configuration and coordinated operation strategy chance-constrained programming model of the MSIS are established under different operating conditions.Finally,simulations are performed on a practical MSIS located in Wuxi,China,and simulation results demonstrate the rationality and effectiveness of the planning method and coordinated operation strategy model for the MSIS.

Multi-Objective Sizing of Solar-Wind-Hydro Hybrid Power System with Doubled Energy Storages Under Optimal Coordinated Operational Strategy

More and more attention has been paid to the high penetration of renewable energy in recent years.The randomness and intermittency of solar and wind energy make it an inevitable trend that renewables are coupled with energy storage technologies.Pumped hydro storage(PHS)is the most widelyused storage form in the power grid but the capacity is limited by geographic conditions.The concentrated solar power(CSP)plant with a thermal energy storage(TES)system can realize easier grid connections and effective peak shaving.Therefore,this paper proposes a solar-wind-hydro hybrid power system with PHS-TES double energy storages,and investigates the optimal coordinated operational strategy and multi-objective sizing.The optimal sizing problem which considers the minimum levelized cost of energy(LCOE)and loss of power supply probability(LPSP)as objectives is solved by multi-objective particle swarm optimization.Moreover,the seasonal uncertainties of renewables are considered by applying a scenario-based analysis using Kmeans clustering.Finally,a case study reveals the effectiveness of the coordinated operational strategy and double energy storages from the perspectives of economy and reliability.The comparisons of optimal sizing results show that the PV-WindCSP-PHS system decreases the LCOE by 19.1%compared to a PV-Wind-CSP system under the same LPSP,and reduces the LPSP compared to PV-Wind-PHS systems with limited reservoir capacity,which indicates that the proposed system with double energy storages has better economy and reliability performance compared to single storage.

Research on a simulated 60 kW PEMFC cogeneration system for domestic application

The electrical and thermal performances of a simulated 60 kW Proton Exchange Membrane Fuel Cell (PEMFC) cogeneration system are first analyzed and then strategies to make the system operation stable and efficient are developed. The system configuration is described first, and then the power response and coordination strategy are presented on the basis of the electricity model. Two different thermal models are used to estimate the thermal performance of this cogeneration system, and heat management is discussed. Based on these system designs, the 60 kW PEMFC cogeneration system is analyzed in detail. The analysis results will be useful for further study and development of the system.

Distributed coordinated control scheme of UAV swarm based on heterogeneous roles

This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV)swarm to achieve formation control.First,the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC).Then,the effect of heterogeneous roles including leader,coordinator and follower is discussed,and the role-based cost functions are developed to improve the performance of coordinated control for UAV swarm.Furthermore,a group of coordination strategies are proposed for UAVs with different roles to achieve swarm conflict resolution.Numerical simulations demonstrate that the presented distributed coordinated control scheme is effective to formulate and maintain the desired formation for the UAV swarm.

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.

Review on Optimization of Forecasting and Coordination Strategies for Electric Vehicle Charging

The rapid development of electric vehicles(EVs)has benefited from the fact that more and more countries or regions have begun to attach importance to clean energy and environmental protection.This paper focuses on the optimization of EV charging,which cannot be ignored in the rapid development of EVs.The increase in the penetration of EVs will generate new electrical loads during the charging process,which will bring new challenges to local power systems.Moreover,the uncoordinated charging of EVs may increase the peak-to-valley difference in the load,aggravate harmonic distortions,and affect auxiliary services.To stabilize the operations of power grids,many studies have been carried out to optimize EV charging.This paper reviews these studies from two aspects:EV charging forecasting and coordinated EV charging strategies.Comparative analyses are carried out to identify the advantages and disadvantages of different methods or models.At the end of this paper,recommendations are given to address the challenges of EV charging and associated charging strategies.

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.