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Optimal Configuration of Fault Location Measurement Points in DC Distribution Networks Based on Improved Particle Swarm Optimization Algorithm
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作者 Huanan Yu Hangyu Li +1 位作者 He Wang Shiqiang Li 《Energy Engineering》 EI 2024年第6期1535-1555,共21页
The escalating deployment of distributed power sources and random loads in DC distribution networks hasamplified the potential consequences of faults if left uncontrolled. To expedite the process of achieving an optim... The escalating deployment of distributed power sources and random loads in DC distribution networks hasamplified the potential consequences of faults if left uncontrolled. To expedite the process of achieving an optimalconfiguration of measurement points, this paper presents an optimal configuration scheme for fault locationmeasurement points in DC distribution networks based on an improved particle swarm optimization algorithm.Initially, a measurement point distribution optimization model is formulated, leveraging compressive sensing.The model aims to achieve the minimum number of measurement points while attaining the best compressivesensing reconstruction effect. It incorporates constraints from the compressive sensing algorithm and networkwide viewability. Subsequently, the traditional particle swarm algorithm is enhanced by utilizing the Haltonsequence for population initialization, generating uniformly distributed individuals. This enhancement reducesindividual search blindness and overlap probability, thereby promoting population diversity. Furthermore, anadaptive t-distribution perturbation strategy is introduced during the particle update process to enhance the globalsearch capability and search speed. The established model for the optimal configuration of measurement points issolved, and the results demonstrate the efficacy and practicality of the proposed method. The optimal configurationreduces the number of measurement points, enhances localization accuracy, and improves the convergence speedof the algorithm. These findings validate the effectiveness and utility of the proposed approach. 展开更多
关键词 Optimal allocation improved particle swarm algorithm fault location compressed sensing DC distribution network
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Analysis and Research on 10kV Distribution Network Faults
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作者 Jiyuan Wang Ouzhu Ciren +1 位作者 Xiaokang Zhou Ruijin Zhu 《Journal of Electronic Research and Application》 2024年第3期89-96,共8页
The 10kV distribution network is an essential component of the power system,and its stable operation is crucial for ensuring reliable power supply.However,various factors can lead to faults in the distribution network... The 10kV distribution network is an essential component of the power system,and its stable operation is crucial for ensuring reliable power supply.However,various factors can lead to faults in the distribution network.In order to enhance the safety and reliability of power distribution,this paper focuses on the analysis of faults in the 10kV distribution network caused by natural factors,operational factors,human factors,and equipment factors.It elucidates the various hazards resulting from distribution network faults and proposes corresponding preventive measures for different types of faults in the 10kV distribution network.The aim is to mitigate or reduce the impact of distribution network faults,ensuring the safe and stable operation of the distribution system. 展开更多
关键词 10kV distribution network Line faults fault hazards Preventive measures
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The Optimization Study about Fault Self-Healing Restoration of Power Distribution Network Based on Multi-Agent Technology 被引量:3
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作者 Fuquan Huang Zijun Liu +2 位作者 Tinghuang Wang Haitai Zhang Tony Yip 《Computers, Materials & Continua》 SCIE EI 2020年第10期865-878,共14页
In order to quickly and accurately locate the fault location of the distribution network and increase the stability of the distribution network,a fault recovery method based on multi-objective optimization algorithm i... In order to quickly and accurately locate the fault location of the distribution network and increase the stability of the distribution network,a fault recovery method based on multi-objective optimization algorithm is proposed.The optimization of the power distribution network fault system based on multiagent technology realizes fast recovery of multi-objective fault,solve the problem of network learning and parameter adjustment in the later stage of particle swarm optimization algorithm falling into the local extreme value dilemma,and realize the multi-dimensional nonlinear optimization of the main grid and the auxiliary grid.The system proposed in this study takes power distribution network as the goal,applies fuzzy probability algorithm,simplifies the calculation process,avoids local extreme value,and finally realizes the energy balance between each power grid.Simulation results show that the Multi-Agent Technology enjoys priority in restoring important load,shortening the recovery time of power grid balance,and reducing the overall line loss rate of power grid.Therefore,the power grid fault self-healing system can improve the safety and stability of the important power grid,and reduce the economic loss rate of the whole power grid. 展开更多
关键词 Multi agent TECHNOLOGY power distribution network fault self-healing
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Identification of Type of a Fault in Distribution System Using Shallow Neural Network with Distributed Generation
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作者 Saurabh Awasthi Gagan Singh Nafees Ahamad 《Energy Engineering》 EI 2023年第4期811-829,共19页
A distributed generation system(DG)has several benefits over a traditional centralized power system.However,the protection area in the case of the distributed generator requires special attention as it encounters stab... A distributed generation system(DG)has several benefits over a traditional centralized power system.However,the protection area in the case of the distributed generator requires special attention as it encounters stability loss,failure re-closure,fluctuations in voltage,etc.And thereby,it demands immediate attention in identifying the location&type of a fault without delay especially when occurred in a small,distributed generation system,as it would adversely affect the overall system and its operation.In the past,several methods were proposed for classification and localisation of a fault in a distributed generation system.Many of those methods were accurate in identifying location,but the accuracy in identifying the type of fault was not up to the acceptable mark.The proposed work here uses a shallow artificial neural network(sANN)model for identifying a particular type of fault that could happen in a specific distribution network when used in conjunction with distributed generators.Firstly,a distribution network consisting of two similar distributed generators(DG1 and DG2),one grid,and a 100 Km distribution line is modeled.Thereafter,different voltages and currents corresponding to various faults(line to line,line to ground)at different locations are tabulated,resulting in a matrix of 500×18 inputs.Secondly,the sANN is formulated for identifying the types of faults in the system in which the above-obtained data is used to train,validate,and test the neural network.The overall result shows an unprecedented almost zero percent error in identifying the type of the faults. 展开更多
关键词 distribution network distributed generation power system modeling fault identification neural network renewable energy systems
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Line Fault Detection of DC Distribution Networks Using the Artificial Neural Network
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作者 Xunyou Zhang Chuanyang Liu Zuo Sun 《Energy Engineering》 EI 2023年第7期1667-1683,共17页
ADC distribution network is an effective solution for increasing renewable energy utilization with distinct benefits,such as high efficiency and easy control.However,a sudden increase in the current after the occurren... ADC distribution network is an effective solution for increasing renewable energy utilization with distinct benefits,such as high efficiency and easy control.However,a sudden increase in the current after the occurrence of faults in the network may adversely affect network stability.This study proposes an artificial neural network(ANN)-based fault detection and protection method for DC distribution networks.The ANN is applied to a classifier for different faults ontheDC line.The backpropagationneuralnetwork is used to predict the line current,and the fault detection threshold is obtained on the basis of the difference between the predicted current and the actual current.The proposed method only uses local signals,with no requirement of a strict communication link.Simulation experiments are conducted for the proposed algorithm on a two-terminal DC distribution network modeled in the PSCAD/EMTDC and developed on the MATLAB platform.The results confirm that the proposed method can accurately detect and classify line faults within a few milliseconds and is not affected by fault locations,fault resistance,noise,and communication delay. 展开更多
关键词 Artificial neural network DC distribution network fault detection
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Risk Analysis Using Multi-Source Data for Distribution Networks Facing Extreme Natural Disasters
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作者 Jun Yang Nannan Wang +1 位作者 Jiang Wang Yashuai Luo 《Energy Engineering》 EI 2023年第9期2079-2096,共18页
Distribution networks denote important public infrastructure necessary for people’s livelihoods.However,extreme natural disasters,such as earthquakes,typhoons,and mudslides,severely threaten the safe and stable opera... Distribution networks denote important public infrastructure necessary for people’s livelihoods.However,extreme natural disasters,such as earthquakes,typhoons,and mudslides,severely threaten the safe and stable operation of distribution networks and power supplies needed for daily life.Therefore,considering the requirements for distribution network disaster prevention and mitigation,there is an urgent need for in-depth research on risk assessment methods of distribution networks under extreme natural disaster conditions.This paper accessesmultisource data,presents the data quality improvement methods of distribution networks,and conducts data-driven active fault diagnosis and disaster damage analysis and evaluation using data-driven theory.Furthermore,the paper realizes real-time,accurate access to distribution network disaster information.The proposed approach performs an accurate and rapid assessment of cross-sectional risk through case study.The minimal average annual outage time can be reduced to 3 h/a in the ring network through case study.The approach proposed in this paper can provide technical support to the further improvement of the ability of distribution networks to cope with extreme natural disasters. 展开更多
关键词 distribution network disaster damage analysis fault judgment multi-source data
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Fault Line Selection Method Considering Grounding Fault Angle for Distribution Network 被引量:1
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作者 Li Si-bo Zhao Yu-lin +1 位作者 Li Ji-chang Sui Tao 《Journal of Northeast Agricultural University(English Edition)》 CAS 2015年第1期58-65,共8页
In the distribution network system with its neutral point grounding via arc suppression coil, when single-phase grounding fault occurred near zero-crossing point of the phase voltage, the inaccuracy of the line select... In the distribution network system with its neutral point grounding via arc suppression coil, when single-phase grounding fault occurred near zero-crossing point of the phase voltage, the inaccuracy of the line selection always existed in existing methods. According to the characteristics that transient current was different between the fault feeder and other faultless feeders, wavelet transformation was performed on data of the transient current within a power frequency cycle after the fault occurred. Based on different fault angles, wavelet energy in corresponding frequency band was chosen to compare. The result was that wavelet energy in fault feeder was the largest of all, and it was larger than sum of those in other faultless feeders, when the bus broke down, the disparity between each wavelet energy was not significant. Fault line could be selected out by the criterion above. The results of MATLAB/simulink simulation experiment indicated that this method had anti-interference capacity and was feasible. 展开更多
关键词 distribution network single-phase grounding fault fault line selection fault angle wavelet transformation
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Overview of Distribution Network Fault Location 被引量:1
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作者 Hao Wu Jie Yang +1 位作者 Qiaomei Wang Leilei Chen 《Energy and Power Engineering》 2019年第5期209-219,共11页
According to the existing research, the fault section location and fault location of passive distribution network and active distribution network are reviewed. Among them, fault location of passive distribution networ... According to the existing research, the fault section location and fault location of passive distribution network and active distribution network are reviewed. Among them, fault location of passive distribution network mainly introduces fault segment location based on transient state and steady state quantity and fault location based on transient quantity. The active distribution network mainly introduces the fault segment location based on the current amount and the switching capacity based on the distribution network topology. On this basis, the difficulties of fault location in the distribution network at present are analyzed, and the future development is prospected. 展开更多
关键词 Passive distribution network Active distribution network SEGMENT Loca-tion fault Location Research and PROSPECT
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Fault location method for petal-shaped distribution network with inverter-interfaced distributed generators 被引量:1
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作者 Xiaolong Chen Shu Yuan +3 位作者 Yongli Li Zhongqing Li Zhian Zeng Shaobo Geng 《Global Energy Interconnection》 EI CAS CSCD 2021年第6期543-553,共11页
In this paper,a fault location method for the petal-shaped distribution network(PSDN)with inverter-interfaced distributed generators(IIDGs)is proposed to shorten the time of manual inspection.In order to calculate the... In this paper,a fault location method for the petal-shaped distribution network(PSDN)with inverter-interfaced distributed generators(IIDGs)is proposed to shorten the time of manual inspection.In order to calculate the fault position,the closed-loop structure of the PSDN is skillfully exploited,and the common control strategies of IIDGs are considered.For asymmetrical faults,a fault line identification formula based on the negative-sequence current phase differences is presented,and a fault location formula only utilizing the negative-sequence current amplitudes is derived to calculated the fault position.For symmetrical faults,the positive-sequence current at both ends of lines and the current output from IIDGs are used to identify the fault line,and the positive-sequence current on multiple lines are used to pinpoint the fault position.In this method,corresponding current phasors are separated into amplitudes and phases to satisfy the limitation of communication level.The simulation results show that the error is generally less than 1%,and the accuracy of the proposed method is not affected by the fault type,fault position,fault resistance,load current,and the IIDG penetration. 展开更多
关键词 Petal-shaped distribution network Inverter-interfaced distributed generator fault-location method fault characteristic analysis
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Fault location by one-terminal measurement in distribution network
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作者 韩凤玲 王毅 董慧峰 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2001年第1期90-93,共4页
Presents the theory behind, the system design of the acquisition of parameters for and the experiment on the fault location by one terminal measurement in actual distribution network, and some of laws governing the on... Presents the theory behind, the system design of the acquisition of parameters for and the experiment on the fault location by one terminal measurement in actual distribution network, and some of laws governing the on site acquisition of parameters and fault location established through experimental research on actual power distribution lines. 展开更多
关键词 distribution network one terminal measurement fault location
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3-Phase Fault Finding in Oil Field MV Distribution Network Using Fuzzy Clustering Techniques
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作者 Muhammad M.A.S. Mahmoud 《Journal of Energy and Power Engineering》 2013年第1期155-161,共7页
This paper studies an existing 13.8 kilovolt distribution network which, serves an oil production field spread over an area of approximately 60 kilometers square, in order to locate any fault that may occur anywhere i... This paper studies an existing 13.8 kilovolt distribution network which, serves an oil production field spread over an area of approximately 60 kilometers square, in order to locate any fault that may occur anywhere in the network using fuzzy c-mean classification techniques. In addition, Sections 5 and 6 introduce two different methods for normalizing data and selecting the optimum number of clusters in order to classify data. Results and conclusions are given to show the feasibility for the suggested fault location method. Suggestion for future related research has been provided in Section 8. 展开更多
关键词 fault finding fault location distribution network fuzzy clustering applications.
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New Principle for Grounding Fault Feeder Detection in MV Distributions with Neutral Ineffectively Earthed 被引量:3
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作者 曾祥君 尹项根 +1 位作者 陈德树 张哲 《Journal of Southeast University(English Edition)》 EI CAS 2000年第1期64-69,共6页
A new principle for grounding fault feeder detection based on negative sequence current variation and energy dissipated in the fault point is presented. It has high precision in both isolated systems and resonance ear... A new principle for grounding fault feeder detection based on negative sequence current variation and energy dissipated in the fault point is presented. It has high precision in both isolated systems and resonance earthed systems, even in full compensated systems. And it can be installed at the local control unit of feeder in distribution automation systems, such as field terminal unit (FTU). This principle is verified by EMTP simulator and experimentation. 展开更多
关键词 protective relaying fault detection distribution networks
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Location of Asymmetric Ground Fault Using Virtual Injected Current Ratio and Two-stage Recovery Strategy in Distribution Networks
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作者 Haiting Shan Luliang Zhang +1 位作者 Q.H.Wu Mengshi Li 《CSEE Journal of Power and Energy Systems》 SCIE EI CSCD 2024年第1期151-161,共11页
Sparse measurements challenge fault location in distribution networks.This paper proposes a method for asymmetric ground fault location in distribution networks with limited measurements.A virtual injected current vec... Sparse measurements challenge fault location in distribution networks.This paper proposes a method for asymmetric ground fault location in distribution networks with limited measurements.A virtual injected current vector is formulated to estimate the fault line,which can be reconstructed from voltage sags measured at a few buses using compressive sensing(CS).The relationship between the virtual injected current ratio(VICR)and fault position is deduced from circuit analysis to pinpoint the fault.Furthermore,a two-stage recovery strategy is proposed for improving reconstruction accuracy of the current vector,where two different sensing matrixes are utilized to improve the incoherence.The proposed method is validated in IEEE 34 node test feeder.Simulation results show asymmetric ground fault type,resistance,fault position and access of distributed generators(DGs)do not significantly influence performance of our method.In addition,it works effectively under various scenarios of noisy measurement and line parameter error.Validations on 134 node test feeders prove the proposed method is also suitable for systems with more complex structure. 展开更多
关键词 distribution networks fault location reconstruction accuracy two-stage recovery virtual injected current ratio
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Distributed event region fault-tolerance based on weighted distance for wireless sensor networks 被引量:2
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作者 Li Ping Li Hong Wu Min 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第6期1351-1360,共10页
Event region detection is the important application for wireless sensor networks(WSNs), where the existing faulty sensors would lead to drastic deterioration of network quality of service.Considering single-moment n... Event region detection is the important application for wireless sensor networks(WSNs), where the existing faulty sensors would lead to drastic deterioration of network quality of service.Considering single-moment nodes fault-tolerance, a novel distributed fault-tolerant detection algorithm named distributed fault-tolerance based on weighted distance(DFWD) is proposed, which exploits the spatial correlation among sensor nodes and their redundant information.In sensor networks, neighborhood sensor nodes will be endowed with different relative weights respectively according to the distances between them and the central node.Having syncretized the weighted information of dual-neighborhood nodes appropriately, it is reasonable to decide the ultimate status of the central sensor node.Simultaneously, readings of faulty sensors would be corrected during this process.Simulation results demonstrate that the DFWD has a higher fault detection accuracy compared with other algorithms, and when the sensor fault probability is 10%, the DFWD can still correct more than 91% faulty sensor nodes, which significantly improves the performance of the whole sensor network. 展开更多
关键词 event region detection weighted distance distributed fault-tolerance wireless sensor network.
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Multi-Branch Fault Line Location Method Based on Time Difference Matrix Fitting
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作者 Hua Leng Silin He +3 位作者 Jian Qiu Feng Liu Xinfei Huang Jiran Zhu 《Energy Engineering》 EI 2024年第1期77-94,共18页
The distribution network exhibits complex structural characteristics,which makes fault localization a challenging task.Especially when a branch of the multi-branch distribution network fails,the traditional multi-bran... The distribution network exhibits complex structural characteristics,which makes fault localization a challenging task.Especially when a branch of the multi-branch distribution network fails,the traditional multi-branch fault location algorithm makes it difficult to meet the demands of high-precision fault localization in the multi-branch distribution network system.In this paper,the multi-branch mainline is decomposed into single branch lines,transforming the complex multi-branch fault location problem into a double-ended fault location problem.Based on the different transmission characteristics of the fault-traveling wave in fault lines and non-fault lines,the endpoint reference time difference matrix S and the fault time difference matrix G were established.The time variation rule of the fault-traveling wave arriving at each endpoint before and after a fault was comprehensively utilized.To realize the fault segment location,the least square method was introduced.It was used to find the first-order fitting relation that satisfies the matching relationship between the corresponding row vector and the first-order function in the two matrices,to realize the fault segment location.Then,the time difference matrix is used to determine the traveling wave velocity,which,combined with the double-ended traveling wave location,enables accurate fault location. 展开更多
关键词 Multi-branch lines distribution network fault location double-ended traveling wave positioning least square method
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Optimal Partitioning of Distribution Networks for Micro-Grid Operation
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作者 Shane J. Kimble Divya T. Vedullapalli Elham B. Makram 《Journal of Power and Energy Engineering》 2017年第9期104-120,共17页
A great concern for the modern distribution grid is how well it can withstand and respond to adverse conditions. One way that utilities are addressing this issue is by adding redundancy to their systems. Likewise, dis... A great concern for the modern distribution grid is how well it can withstand and respond to adverse conditions. One way that utilities are addressing this issue is by adding redundancy to their systems. Likewise, distributed generation (DG) is becoming an increasingly popular asset at the distribution level and the idea of microgrids operating as standalone systems apart from the bulk electric grid is quickly becoming a reality. This allows for greater flexibility as systems can now take on exponentially more configurations than the radial, one-way distribution systems of the past. These added capabilities, however, make the system reconfiguration with a much more complex problem causing utilities to question if they are operating their distribution systems optimally. In addition, tools like Supervisory Control and Data Acquisition (SCADA) and Distribution Automation (DA) allow for systems to be reconfigured faster than humans can make decisions on how to reconfigure them. As a result, this paper seeks to develop an automated partitioning scheme for distribution systems that can respond to varying system conditions while ensuring a variety of operational constraints on the final configuration. It uses linear programming and graph theory. Power flow is calculated externally to the LP and a feedback loop is used to recalculate the solution if a violation is found. Application to test systems shows that it can reconfigure systems containing any number of loops resulting in a radial configuration. It can connect multiple sources to a single microgrid if more capacity is needed to supply the microgrid’s load. 展开更多
关键词 distributed Generation (DG) Supervisory Control and Data Acquisition (SCADA) distribution Automation (DA) fault Location Isolation and RESTORATION (FLISR) self-healing network MICRO-GRID Smart Grid
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A Wavelet-Based Technique for Distribution Networks
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作者 M. Gilany N. Zamanan W. Wahba 《Journal of Energy and Power Engineering》 2010年第10期46-53,共8页
This paper presents a wavelet-based technique for detection and classification of normal and abnormal conditions that occur on power distribution lines. The proposed technique depends on a sensitive fault detection pa... This paper presents a wavelet-based technique for detection and classification of normal and abnormal conditions that occur on power distribution lines. The proposed technique depends on a sensitive fault detection parameter (denoted DET) calculated from the wavelet multi-resolution decomposition of the three phase currents only. This parameter is fast and sensitive to any small changes in the current signal since it uses the square of the first and second details of the decomposed signals. The simulation results of this study clearly show that the proposed technique can be successfully used to detect and classify not only low-current faults that could not be detected by conventional overcurrent relays but also normal transients like load switching and inrush currents. 展开更多
关键词 Wavelet Transform fault detection inrush currents fault classification distribution networks.
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Decentralized Bilateral Risk-based Self-healing Strategy for Power Distribution Network with Potentials from Central Energy Stations 被引量:1
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作者 Chaoxian Lv Rui Liang Yuanyuan Chai 《Journal of Modern Power Systems and Clean Energy》 SCIE EI CSCD 2023年第1期179-190,共12页
Owing to potential regulation capacities from flexible resources in energy coupling,storage,and consumption links,central energy stations(CESs)can provide additional support to power distribution network(PDN)in case o... Owing to potential regulation capacities from flexible resources in energy coupling,storage,and consumption links,central energy stations(CESs)can provide additional support to power distribution network(PDN)in case of power disruption.However,existing research has not explicitly revealed the emergency response of PDN with leveraging multiple CESs.This paper proposes a decentralized self-healing strategy of PDN to minimize the entire load loss,in which multi-area CESs’potentials including thermal storage and building thermal inertia,as well as the flexible topology of PDN,are reasonably exploited for service recovery.For sake of privacy preservation,the co-optimization of PDN and CESs is realized in a decentralized manner using adaptive alternating direction method of multipliers(ADMM).Furtherly,bilateral risk management with conditional value-at-risk(CVaR)for PDN and risk constraints for CESs is integrated to deal with uncertainties from outage duration.Case studies are conducted on a modified IEEE 33-bus PDN with multiple CESs.Numerical results illustrate that the proposed strategy can fully utilize the potentials of multi-area CESs for coordinated load restoration.The effectiveness of the performance and behaviors’adaptation against random risks is also validated. 展开更多
关键词 Power distribution network(PDN) central energy station(CES) bilateral risk management self-healing alternating direction method of multipliers(ADMM)
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STUDY ON MEASURES OF FAULT TOLERANCE FOR DISTRIBUTED SYSTEM
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作者 武小悦 沙基昌 何小怀 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1998年第1期65-68,共4页
Fault tolerant ability is an important aspect for overall evaluation of distributed system(DS). This paper discusses three measures for the evaluation: node/edge connectivity, number of spanning trees and synthetic co... Fault tolerant ability is an important aspect for overall evaluation of distributed system(DS). This paper discusses three measures for the evaluation: node/edge connectivity, number of spanning trees and synthetic connectivity. A numerical example for illustration and analysis is given, and the synthetic connectivity measure presented by this paper is proved to be rational and satisfactory. 展开更多
关键词 distributed network EVALUATIONS fault tole rant technique RELIABILITY network topology distributed system
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An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles 被引量:4
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作者 Eman Mousavinejad Xiaohua Ge +3 位作者 Senior Member Qing-Long Han Teng Joon Lim Ljubo Vlacic 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第6期1107-1118,共12页
This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to ... This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach. 展开更多
关键词 Autonomous ground vehicle(AGV) distributed setmembership estimation fault estimation sensor networks vehicle lateral dynamics
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