火电机组深度调峰是全面消纳新能源发电和构建新型电力系统的重要组成部分。火电机组深度调峰能力试验是验证机组是否具备相应调峰能力的重要手段。以630 MW超临界机组为例,从机组最小技术出力的安全性、CCS(Coordination Control Syst...火电机组深度调峰是全面消纳新能源发电和构建新型电力系统的重要组成部分。火电机组深度调峰能力试验是验证机组是否具备相应调峰能力的重要手段。以630 MW超临界机组为例,从机组最小技术出力的安全性、CCS(Coordination Control System,协调控制系统)变负荷和一次调频性能三方面开展验证试验。试验结果表明,机组在30%额定负荷(Pe)下,锅炉、汽机及其辅机安全稳定运行且环保指标达标;30%Pe~40%Pe下,CCS升降负荷速率分别为每分钟1.04%Pe和每分钟0.53%Pe,AGC(Automatic Generation Control,自动发电控制)和一次调频性能均满足规定的要求。展开更多
The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the...The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.展开更多
基金Projects(50775200,50905156)supported by the National Natural Science Foundation of China
文摘The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.
