A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensat...A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensation of the delays and packet dropouts. The adverse impacts of communication errors are effectively reduced by a novel delay compensation scheme, where the feedback signal and the control command are compensated in each control period in the central controller and the swing motor driver, respectively, without requiring additional network bandwidth. The recursive least-squares algorithm with forgetting factor algorithm is employed to identify the time-varying model parameters due to pose variation, and a reverse correction law is embedded into the feedback compensation in consecutive packet dropout scenarios to overcome the impacts of the model error. Simulations and practical experiments are conducted. The results show that the proposed fault-tolerant strategy can effectively reduce the communication-error-induced overshoot and response time variation.展开更多
This serial research proposes the hybrid power system combined the wind power unit with the counter-rotating type pump-turbine unit,to provide the constant output for the grid system,even at the suddenly fluctuating/t...This serial research proposes the hybrid power system combined the wind power unit with the counter-rotating type pump-turbine unit,to provide the constant output for the grid system,even at the suddenly fluctuating/turbulent wind.In this paper,the tandem impellers of the counter-rotating type pumping unit was operated at the turbine mode,and the performances and the flow conditions were investigated numerically and experimentally.The 3-D turbulent flows in the runners were simulated at the steady state condition by using the commercial CFD code of ANSYS-CFX ver.12 with the SST turbulence model.While providing the pump unit for the turbine mode,the maximum hydraulic efficiency is close to one of the counter-rotating type hydroelectric unit designed exclu-sively for the turbine mode.Besides,the runner/impeller of the unit works evidently so as to coincide the angularmomentum change through the front runners/impellers with that through the rear runners/impellers,namely to take the axial flow at not only the inlet but also the outlet without the guide vanes.These results show that this type of unit is effective to work at not only the pumping but also the turbine modes.展开更多
基金the National Natural Science Foundation of China （Nos. 51475414, 51475422, and 51521064） and the National Basic Research Program （973） of China （No. 2013CB035405）
文摘A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensation of the delays and packet dropouts. The adverse impacts of communication errors are effectively reduced by a novel delay compensation scheme, where the feedback signal and the control command are compensated in each control period in the central controller and the swing motor driver, respectively, without requiring additional network bandwidth. The recursive least-squares algorithm with forgetting factor algorithm is employed to identify the time-varying model parameters due to pose variation, and a reverse correction law is embedded into the feedback compensation in consecutive packet dropout scenarios to overcome the impacts of the model error. Simulations and practical experiments are conducted. The results show that the proposed fault-tolerant strategy can effectively reduce the communication-error-induced overshoot and response time variation.
基金co-sponsored by Japan Society for the Promotion of Science KAKENHI23860035
文摘This serial research proposes the hybrid power system combined the wind power unit with the counter-rotating type pump-turbine unit,to provide the constant output for the grid system,even at the suddenly fluctuating/turbulent wind.In this paper,the tandem impellers of the counter-rotating type pumping unit was operated at the turbine mode,and the performances and the flow conditions were investigated numerically and experimentally.The 3-D turbulent flows in the runners were simulated at the steady state condition by using the commercial CFD code of ANSYS-CFX ver.12 with the SST turbulence model.While providing the pump unit for the turbine mode,the maximum hydraulic efficiency is close to one of the counter-rotating type hydroelectric unit designed exclu-sively for the turbine mode.Besides,the runner/impeller of the unit works evidently so as to coincide the angularmomentum change through the front runners/impellers with that through the rear runners/impellers,namely to take the axial flow at not only the inlet but also the outlet without the guide vanes.These results show that this type of unit is effective to work at not only the pumping but also the turbine modes.
