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
In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is ...This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.展开更多
A novel multi-channel distributed optical fiber intrusion monitoring system with smart fiber link backup and on-line fault diagnosis functions was proposed. A 1 ~ N optical switch was intelligently controlled by a per...A novel multi-channel distributed optical fiber intrusion monitoring system with smart fiber link backup and on-line fault diagnosis functions was proposed. A 1 ~ N optical switch was intelligently controlled by a peripheral interface controller （PIC） to expand the fiber link from one channel to several ones to lower the cost of the long or ultra-long distance intrusion monitoring system and also to strengthen the intelligent monitoring link backup function. At the same time, a sliding window auto-correlation method was presented to identify and locate the broken or fault point of the cable. The experimental results showed that the proposed multi-channel system performed well especially whenever any a broken cable was detected. It could locate the broken or fault point by itself accurately and switch to its backup sensing link immediately to ensure the security system to operate stably without a minute idling. And it was successfully applied in a field test for security monitoring of the 220-km-length national borderline in China.展开更多
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。
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
基金supported by the Canada Foundation for Innovation (CFI) and the National Natural Science Foundation of China (Grant No.50875257)
文摘This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.
基金The authors gratefully acknowledge the previous supports provided by the National High Technology Research and Development Program of China （863 Program, Grant No. 2007AA01Z245）, and the supports provided for this research by the Major Program （Grant No. 61290312） and Youth Foundation （Grant No. 61301275） of the National Science Foundation of China （NSFC）, and the Fundamental Research Funds for the Central Universities （Grant No. ZYGX2011 J010）. This work is also supported by Program for Changjiang Scholars and Innovative Research Team inUniversity （PCSIRT, IRTI218）, and the 111 Project （B14039）. Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author（s） and source are credited.
文摘A novel multi-channel distributed optical fiber intrusion monitoring system with smart fiber link backup and on-line fault diagnosis functions was proposed. A 1 ~ N optical switch was intelligently controlled by a peripheral interface controller （PIC） to expand the fiber link from one channel to several ones to lower the cost of the long or ultra-long distance intrusion monitoring system and also to strengthen the intelligent monitoring link backup function. At the same time, a sliding window auto-correlation method was presented to identify and locate the broken or fault point of the cable. The experimental results showed that the proposed multi-channel system performed well especially whenever any a broken cable was detected. It could locate the broken or fault point by itself accurately and switch to its backup sensing link immediately to ensure the security system to operate stably without a minute idling. And it was successfully applied in a field test for security monitoring of the 220-km-length national borderline in China.
