In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communic...In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.展开更多
为适应配电网多线路的潮流调节需求,进一步提高潮流调控能力和响应速度,文中提出一种新型配电网多线路混合式统一潮流控制器(multi-line hybrid unified power flow controller for distribution network, D-MHUPFC)。D-MHUPFC由Sen变...为适应配电网多线路的潮流调节需求,进一步提高潮流调控能力和响应速度,文中提出一种新型配电网多线路混合式统一潮流控制器(multi-line hybrid unified power flow controller for distribution network, D-MHUPFC)。D-MHUPFC由Sen变压器、统一潮流控制器(unified power flow controller, UPFC)和混合式有载分接开关组成,能够快速调节配电网多线路潮流。相较于传统调节方式,D-MHUPFC具有结构紧凑、响应快速、经济性好和可靠性高等优点。文中结合ZIP负荷模型,推导计及D-MHUPFC的多线路潮流方程,优化其协同控制策略,并搭建10 kV配电网仿真平台验证其可行性。结果显示,D-MHUPFC及其控制策略能在0.15 s内快速调节多线路潮流,转移过载功率,提高断面输电极限。D-MHUPFC能够解耦控制有功功率和无功功率,补偿误差小于1%,具有和UPFC相当的潮流调节能力。展开更多
基金supported in part by the National Key Research and Development Program of China under Grant 2020YFA0711301in part by the National Natural Science Foundation of China under Grant 62341110, Grant U22A2002, and Grant 62025110in part by the Suzhou Science and Technology Project
文摘In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.
文摘为适应配电网多线路的潮流调节需求,进一步提高潮流调控能力和响应速度,文中提出一种新型配电网多线路混合式统一潮流控制器(multi-line hybrid unified power flow controller for distribution network, D-MHUPFC)。D-MHUPFC由Sen变压器、统一潮流控制器(unified power flow controller, UPFC)和混合式有载分接开关组成,能够快速调节配电网多线路潮流。相较于传统调节方式,D-MHUPFC具有结构紧凑、响应快速、经济性好和可靠性高等优点。文中结合ZIP负荷模型,推导计及D-MHUPFC的多线路潮流方程,优化其协同控制策略,并搭建10 kV配电网仿真平台验证其可行性。结果显示,D-MHUPFC及其控制策略能在0.15 s内快速调节多线路潮流,转移过载功率,提高断面输电极限。D-MHUPFC能够解耦控制有功功率和无功功率,补偿误差小于1%,具有和UPFC相当的潮流调节能力。
