Theoretical and experimental studies of gas preparation system for pressurization and reactive control system of launch vehicle

A new gas preparation system(GasPS-RCS)is proposed to solve two tasks:(A)to heat helium gas for tank pressurization;(B)to prepare gas for the Launch Vehicle(LV)Reactive Control System(RCS)at the LV orientation and stabilization sections of the LV on passive parts of the flight trajectory,to provide conditions for launching the Liquid Rocket Engine(LRE).The system includes a gas generator based on hydrogen peroxide,a separator for water separation,heat exchangers independent of the LRE,and gas-jet nozzles.The proposed new system allowed to reduce the length of pressurizing gas lines and reduce the increased helium gas consumption during the heat exchanger warm-up interval of the LRE during its launch.A special advantage of the proposed system is the possibility of ground testing of heat exchangers without an operating LRE.A mathematical model based on the first law of thermodynamics was used to perform a comparative analysis of GasPS-RCS with traditional pressurization and RCS systems.To validate the mathematical model,the experimental studies of helium pressurizing of a liquid nitrogen tank were conducted.The results show that the deviation of experimental and calculated values for pressure is 1.1%and for temperature up to 2%.According to the results of comparative analysis,the GasPS-RCS is 259 kg lighter for the first stage and 80 kg lighter for the second stage of the LV.

Reactive dividing wall column for hydrolysis of methyl acetate:Design and control

Reactive distillation and dividing wall column distillation are two kinds of effective separation technologies,and their integrated configuration,reactive dividing wall column(RDWC),presents attractive advantages.In this study,the rigorous simulation of RDWC for methyl acetate hydrolysis is performed,and sensitivity analysis is conducted to obtain the minimum reboiler duty.Then a comparison is made between the conventional process and RDWC process,and it shows that 20.1% energy savings can be achieved by RDWC process.In addition,the dynamic characteristic of RDWC is studied and an effective control strategy is proposed.The simple PI control scheme with three temperature loops can obtain reasonable control performance and maintain products at desired purities.It is proved that this RDWC process is an energy efficiency alternative with good controllability.

Control of reactive dividing wall column for selective hydrogenation and separation of C3 stream

In our previous work, the reactive dividing wall column(RDWC) was proposed and proved to be effective for selective hydrogenation and separation of C3 stream. In the present paper, the dynamics and control of the proposed RDWC are investigated. Four control structures including composition and temperature controls are proposed. The feed forward controllers are employed in the four control strategies to shorten the dynamic response time, reduce the maximum deviations and offer an immediate adjustment. The control structures are compared by applying them into the RDWC system with 20% disturbances in both the feed flow rate and the feed compositions, and the results are discussed.

Effectiveness of Optimal Arrangement of the Residences Operated by Reactive Power Control for a Clustered Grid-Interconnected PV System

There is a danger of power generation efficiency decreasing due to voltage increase when clustered residential PV systems are grid-interconnected to a single distribution line. As a countermeasure, installation of the reactive power control of an inverter at each residence has been considered. However, there are not many types of inverters that can operate reactive power control because there are insufficient effects on a low voltage distribution line with low penetration PV with reactive power control. Therefore, it is necessary to consider how to increase generation efficiency with a lower number of inverters. In this paper, four Japanese standard distribution line structures, for example of a residential area on ＂C1＂, where 2,160 residential PV systems are grid-interconnected, are selected. The optimal setting of reactive power control at each residence is computed on the distribution lines with a greedy method.

Unique influences of reboiler inventory control on the operation of totally reboiled reactive distillation columns

In this work,the dynamics and operation of the totally reboiled reactive distillation columns are visualized in terms of transfer function based process models.This kind of processes is found to be characterized by underdamped step responses due to the special topological configuration and the intricate interplay between the reaction operation and the separation operation involved.The under-dampness can be substantially alleviated through the tight inventory control of bottom reboiler and this presents beneficial effects to process dynamics and operation.Two totally reboiled reactive distillation columns,separating,respectively,a hypothetical synthesis reaction from reactants A and B to product C,and a real decomposition reaction from 1,4-butanediol to tetrahydrofuran and water,are employed to demonstrate these uncommon behaviors.The results obtained give full support to the above qualitative interpretation.Despite the strong influences of reaction kinetics and thermodynamic properties of the reacting mixtures,the totally reboiled reactive distillation columns are generally considered to present such unique behaviors and require tight inventory control of bottom reboiler to facilitate their control system development.

Dispersed Wind Power Planning Method Considering Network Loss Correction with Cold Weather

In order to play a positive role of decentralised wind power on-grid for voltage stability improvement and loss reduction of distribution network,a multi-objective two-stage decentralised wind power planning method is proposed in the paper,which takes into account the network loss correction for the extreme cold region.Firstly,an electro-thermal model is introduced to reflect the effect of temperature on conductor resistance and to correct the results of active network loss calculation;secondly,a two-stage multi-objective two-stage decentralised wind power siting and capacity allocation and reactive voltage optimisation control model is constructed to take account of the network loss correction,and the multi-objective multi-planning model is established in the first stage to consider the whole-life cycle investment cost of WTGs,the system operating cost and the voltage quality of power supply,and the multi-objective planning model is established in the second stage.planning model,and the second stage further develops the reactive voltage control strategy of WTGs on this basis,and obtains the distribution network loss reduction method based on WTG siting and capacity allocation and reactive power control strategy.Finally,the optimal configuration scheme is solved by the manta ray foraging optimisation(MRFO)algorithm,and the loss of each branch line and bus loss of the distribution network before and after the adoption of this loss reduction method is calculated by taking the IEEE33 distribution system as an example,which verifies the practicability and validity of the proposed method,and provides a reference introduction for decision-making for the distributed energy planning of the distribution network.

Reservoir-induced landslides and risk control in Three Gorges Project on Yangtze River,China

The Three Gorges region in China was basically a geohazard-prone area prior to construction of the Three Gorges Reservoir （TGR）. After construction of the TGR, the water level was raised from 70 m to 175 m above sea level （ASL）, and annual reservoir regulation has caused a 30-m water level difference after impoundment of the TGR since September 2008. This paper first presents the spatiotemporal distribution of landslides in six periods of 175 m ASL trial impoundments from 2008 to 2014. The results show that the number of landslides sharply decreased from 273 at the initial stage to less than ten at the second stage of impoundment. Based on this, the reservoir-induced landslides in the TGR region can be roughly classified into five failure patterns, i.e. accumulation landslide, dip-slope landslide, reversed bedding landslide, rockfall, and karst breccia landslide. The accumulation landslides and dip-slope landslides account for more than 90%. Taking the Shuping accumulation landslide （a sliding mass volume of 20.7 × 106 m^3） in Zigui County and the Outang dip-slope landslide （a sliding mass volume of about 90 × 106 m^3） in Fengjie County as two typical cases, the mechanisms of reactivation of the two landslides are analyzed. The monitoring data and factor of safety （FOS） calculation show that the accumulation landslide is dominated by water level variation in the reservoir as most part of the mass body is under 175 m ASL, and the dip-slope landslide is controlled by the coupling effect of reservoir water level variation and precipitation as an extensive recharge area of rainfall from the rear and the front mass is below 175 m ASL. The characteristics of landslide-induced impulsive wave hazards after and before reservoir impoundment are studied, and the probability of occurrence of a landslide-induced impulsive wave hazard has increased in the reservoir region. Simulation results of the Ganjingzi landslide in Wushan County indicate the strong relationship between landslide-induced surge and water variation with high potential risk to shipping and residential areas. Regarding reservoir regulation in TGR when using a single index, i.e. 1-d water level variation, water resources are not well utilized, and there is also potential risk of disasters since 2008. In addition, various indices such as 1-d, 5-d, and 10-d water level variations are proposed for reservoir regulation. Finally, taking reservoir-induced landslides in June 2015 for example, the feasibility of the optimizing indices of water level variations is verified.

Interpreting the dynamic effect of internal heat integration on reactive distillation columns

In this work,the impact of internal heat integration upon process dynamics and controllability by superposing reactive section onto stripping section,relocating feed locations,and redistributing catalyst within the reactive section is explored based on a hypothetical ideal reactive distillation system containing an exothermic reaction:A + BC + D.Steady state operation analysis and closed-loop controllability evaluation are carried out by comparing the process designs with and without the consideration of internal heat integration.For superposing reactive section onto stripping section,favorable effect is aroused due to its low sensitivities to the changes in operating condition.For ascending the lower feed stage,somewhat detrimental effect occurs because of the accompanied adverse internal heat integration and strong sensitivity to the changes in operating condition.For descending the upper feed stage,serious detrimental effect happens because of the introduced adverse internal heat integration and strong sensitivity to the changes in operating condition.For redistributing catalyst in the reactive section,fairly small negative influence is aroused by the sensitivity to the changes in operating condition.When reinforcing internal heat integration with a combinatorial use of these three strategies,the decent of the upper feed stage should be avoided in process development.Although the conclusions are derived based on the hypothetical ideal reactive distillation column studied,they are considered to be of general significance to the design and operation of other reactive distillation columns.

Multi-sensor systems and information processing of mobile robot in uncertain environments

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

Reinforcement learning for mobile robot:fromreaction to deliberation

Reinforcement learning has been widely used for mobile robot learning and control. Some progress of this kind of appreaches is surveyed and argued in a new way which emphasizes on different levels of algorithms according to different complexity of tasks. The central conjecture is that approaches which combine reactive and deliberative control to robotics scale better to complex real-world applications than purely reactive or deliberative ones. This paper describes ha,sic reactive reinforcement learning algorithms and two classes of approaches to achieve deliberation, which are modular methods and hierarchical methods. By combining reactive and deliberative paradigms,the whole system gains advantages from different control levels. The paper gives results of experiments as a case study to verify the effectiveness of the proposed approaches.

Tuning the reactivity of Al-Ni by fine coating of halogen-containing energetic composites

In this paper,various core-shell structured Al—Ni@ECs composites have been prepared by a spray-drying technique.The involved ECs refer to the energetic composites(ECs)of ammonium perchlorate/nitrocellulose(AP/NC,NA)and polyvinylidene fluoride/hexanitrohexaazaisowurtzitane(PVDF/CL-20,PC).Two Al—Ni mixtures were prepared at atomic ratios of 1:1 and 1:3 and named as Al/Ni and Al/3Ni,respectively.The thermal reactivity and combustion behaviors of Al—Ni@ECs composites have been comprehensively investigated.Results showed that the reactivity and combustion performance of Al—Ni could be enhanced by introducing both NA and PC energetic composites.Among which the Al/Ni@NA composite exhibited higher reactivity and improved combustion performance.The measured flame propagation rate(v=20.6 mm/s),average combustion wave temperature(T_(max)=1567.0°C)and maximum temperature rise rate(γ_(t)=1633.6°C/s)of Al/Ni@NA are higher than that of the Al/Ni(v=15.8 mm/s,T_(max)=858.0°C,andγ_(t)=143.5°C/s).The enhancement in combustion properties could be due to presence of the acidic gaseous products from ECs,which could etch the Al_(2)O_(3)shell on the surface of Al particles,and make the inner active Al to be easier transported,so that an intimate and faster intermetallic reaction between Al and Ni would be realized.Furthermore,the morphologies and chemical compositions of the condensed combustion products(CCPs)of Al—Ni@ECs composites were found to be different depending on the types of ECs.The compositions of CCPs are dominated with the Al—Ni intermetallics,combining with a trace amount of Al_(5)O_(6)N and Al_(2)O_(3).

ADMM-based Distributed Active and Reactive Power Control for Regional AC Power Grid with Wind Farms

A distributed active and reactive power control(DARPC)strategy based on the alternating direction method of multipliers(ADMM)is proposed for regional AC transmission system(TS)with wind farms(WFs).The proposed DARPC strategy optimizes the power distribution among the WFs to minimize the power losses of the AC TS while tracking the active power reference from the transmission system operator(TSO),and minimizes the voltage deviation of the buses inside the WF from the rated voltage as well as the power losses of the WF collection system.The optimal power flow(OPF)of the TS is relaxed by using the semidefinite programming(SDP)relaxation while the branch flow model is used to model the WF collection system.In the DARPC strategy,the large-scale strongly-coupled optimization problem is decomposed by using the ADMM,which is solved in the regional TS controller and WF controllers in parallel without loss of the global optimality.The boundary information is exchanged between the regional TS controller and WF controllers.Compared with the conventional OPF method of the TS with WFs,the optimality and accuracy of the system operation can be improved.Moreover,the proposed strategy efficiently reduces the computation burden of the TS controller and eliminates the need of a central controller.The protection of the information privacy can be enhanced.A modified IEEE 9-bus system with two WFs consisting of 64 wind turbines(WTs)is used to validate the proposed DARPC strategy.

Coupling Characteristics of DFIG-based WT Considering Reactive Power Control and Its Impact on Phase/Amplitude Transient Stability in a Rotor Speed Control Timescale

The transient stability issues caused by doubly fed induction generator(DFIG)-based wind turbines(WTs)are receiving increasing attention.The q-axis reactive power control(QCtrl),as an essential part of DFIG-based WTs,has a significant impact on its transient response.In this paper,the impact of QCtrl on the phase/amplitude transient stability of a DFIGbased WT-dominated system is analyzed from the perspective of internal voltage amplitude-phase coupling characteristics.First,an amplitude/phase dynamic model of a DFIG-based WT in rotor speed control timescale(in seconds,corresponding to traditional electromechanical timescale)is developed.Then,in comparison with familiar synchronous generators(SGs),an inherently amplitude-phase characteristic of internal voltage for a DFIG-based WT is identified.Next,taking the DFIG-based WTdominated system as an example,the impact of QCtrl on system transient stability via the internal coupling paths is analyzed.A novel phase-amplitude coupling instability mechanism is found,which is different from that in a traditional SG-dominated system.Finally,the effects of different QCtrl strategies on transient stability are discussed.

Real-Time Operation of Microgrids

Microgrid (MG) systems effectively integrate a generation mix of solar, wind, and other renewable energy resources. The intermittent nature of renewable resources and the unpredictable weather conditions contribute largely to the unreliability of microgrid real-time operation. This paper investigates the behavior of microgrid for different intermittent scenarios of photovoltaic generation in real-time. Reactive power coordination control and load shedding mechanisms are used for reliable operation and are implemented using OPAL-RT simulator integrated with Matlab. In an islanded MG, load shedding can be an effective mechanism to maintain generation-load balance. The microgrid of the German Jordanian University (GJU) is used for illustration. The results show that reactive power coordination control not only stabilizes the MG operation in real-time but also reduces power losses on transmission lines. The results also show that the power losses at some substations are reduced by a range of 6% - 9.8%.

Fixed-time Distributed Voltage and Reactive Power Compensation of Islanded Microgrids Using Sliding-mode and Multi-agent Consensus Design

This paper investigates a fixed-time distributed voltage and reactive power compensation of islanded microgrids using sliding-mode and multi-agent consensus design.A distributed sliding-mode control protocol is proposed to ensure voltage regulation and reference tracking before the desired preset fixed-time despite the unknown disturbances.Accurate reactive power sharings among distributed generators are maintained.The secondary controller is synthesized without the knowledge of any parameter of the microgrid.It is implemented using a sparse one-way communication network modeled as a directed graph.A comparative simulation study is conducted to highlight the performance of the proposed control strategy in comparison with finite-time and asymptotic control systems with load power variations.

Complete active-reactive power resource scheduling of smart distribution system with high penetration of distributed energy resources

In traditional power systems,besides the conventional power plants that provide the necessary reactive power in transmission system,the shunt capacitors along with the tap changers of transformers are also employed in distribution networks.In future years,because of the high number of distributed resources integrated into the distribution networks,it will be essential to schedule complete active-reactive power at distribution level.In this research work,an economic framework based on the active-reactive power bids has been developed for complete active-reactive power dispatch scheduling of smart distribution networks.The economical complete active-reactive power scheduling approach suggested in this study motivates distributed energy resources(DERs)to cooperate in both active power markets and the Volt/Var control scheme.To this end,using DER’s reactive power capability,a generic framework of reactive power offers for DERs is extracted.A 22-bus distribution test system is implemented to verify the impressiveness of the suggested active-reactive power scheduling approach.

Experimental investigation on combustion and emission characteristics of reactivity controlled compression ignition engine powered with iso-propanol/biodiesel blends

Recently, reactivity controlled compression ignition (RCCI) has been proposed inorder to achieve a higher thermal efficiency with lower emissions than conventional combustion. In RCCI mode, as the fuel types and their combinations affects the reactivity stratificationinside cylinder, thus combustion control, in present study, iso-propanol was evaluated as lowreactivity fuel (LRF) when petroleum diesel, commercial biodiesel and their blends were highreactivity fuels. It is of great importance that iso-propanol and biodiesel be used together inRCCI mode, as they significantly affect the in-cylinder stratification due to their high octane/cetane number. Therefore, the reactivity controlled compression ignition (RCCI) combustioncharacteristics was investigated in a diesel research engine using iso-propanol, petroleumdiesel, biodiesel and their blends as fuels. Tests were conducted on varying loadings (from20% to 60% of max torque) and premixed ratios of LRF (Rp Z 0, 0.15, 0.30, 0.45, and0.60) at a constant engine speed of 2400 rpm. Results, which were compared with conventionaldiesel combustion (CDC), showed that, as the premixed ratio (Rp) of low-reactivity fuel (isopropanol) increased, ignition delay (ID) period prolonged while combustion duration (CD) and rate of pressure rise (RoPR) reduced assisted to reduce NO emissions and smoke opacity in theexhaust. NO and smoke opacity reduced simultaneously for biodiesel-propanol combinationsup to 40% under 20% load and 0.60 premixed ratio of LRF compared to CDC. Propanol premixed ratio of 0.30 at 60% load was found to be optimum concerning lowest emissions. In conventional mode, HC emissions reduced by up to 52% when biodiesel and its blends with dieselfuel are used, whereas they increased significantly in RCCI mode. According to overall results,it is concluded that RCCI performed better than CDC at entire load.

Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

Key technologies and the implementation of wind,PV and storage co-generation monitoring system

The coordinated control of multiple-sources including wind,photovoltaic(PV)and storage brings new challenges to traditional dispatch and control technologies.This paper firstly introduces a framework of wind,PV and storage co-generation monitoring system.Then,key technologies of co-generation monitoring system including day-ahead optimal dispatching,active power coordinated control and reactive power and voltage control are proposed.The framework and the techniques described in this paper have been applied in the National Wind,Photovoltaic,Storage and Transmission Demonstration Project of China,and their validity have been tested and verified.

Power Flow Based Volt/var Optimization Under Uncertainty

Volt/var optimization(VVO)is a control function that is employed in distribution systems to keep the load voltages within the standard limits,and it includes secondary objectives such as loss minimization.The power flow based VVO is the way of choice in practical applications because it can handle a variety of objective functions and provides a solution even for large-scale network instances.This paper extends the power flow based VVO to account for uncertainty in both the load values and the power generation from photovoltaic sources.The proposed method employs circular arithmetic in complex variables to compute VVO settings that guard against load uncertainty and an optimized linear decision rule that modulates the reactive power of photovoltaic inverter in function of its active power.Finally,the proposed method is tested on distribution networks with up to 3146 nodes and is shown to produce optimal solutions that are robust against power variations.