In this paper the topology of a four-leg shunt active-power filter (APF) is given. The APF compensates har-monic and reactive power in a three-phase four-wire system. The scheme adopted for control of the four-leg act...In this paper the topology of a four-leg shunt active-power filter (APF) is given. The APF compensates har-monic and reactive power in a three-phase four-wire system. The scheme adopted for control of the four-leg active power filter,a 3-Dimensional Pulse Width Modulation (PWM) technique,is presented. The theoretical deduction of a space vector PWM (SVPWM) algorithm is given in this paper. The paper also analyzes the distribution of the volt-age-space vector of the four-leg converter in αβγ coordinates and describes methods to determine the location of the voltage-space vector and to calculate duration time. Finally,the algorithm is implemented in simulation; the results show that the total harmonic distortion (THD) of the three phase-current waveforms is reduced. The neutral wire current,after compensation,is about 0 A showing that the topology of the four-leg shunt APF is feasible and the proposed scheme is effective.展开更多
The layered control architecture is designed for the need of the multirobot intelligent team formation.There are three levels:the cooperation task level,the coordination behavior level and the action planning level.Th...The layered control architecture is designed for the need of the multirobot intelligent team formation.There are three levels:the cooperation task level,the coordination behavior level and the action planning level.The cooperation task level uses the potential grid method,which improves the safety of the path and reduces the calculation complexity.The coordination behavior level uses the reinforcement learning which can strengthen the robots’ intelligence.The action planning level uses the fuzzy planning methods to realize the action matching.The communication model transfers the message in different level.This architecture shows not only the independence and the intelligence of the single robot but also the cooperation and the coordination among the robots.In each level,the task is distributed reasonably and clearly.Finally the feasibility of the architecture is verified further in the simulation of the experiment.The expansibility of the architecture is good and the architecture can be used in the similar system.展开更多
文摘In this paper the topology of a four-leg shunt active-power filter (APF) is given. The APF compensates har-monic and reactive power in a three-phase four-wire system. The scheme adopted for control of the four-leg active power filter,a 3-Dimensional Pulse Width Modulation (PWM) technique,is presented. The theoretical deduction of a space vector PWM (SVPWM) algorithm is given in this paper. The paper also analyzes the distribution of the volt-age-space vector of the four-leg converter in αβγ coordinates and describes methods to determine the location of the voltage-space vector and to calculate duration time. Finally,the algorithm is implemented in simulation; the results show that the total harmonic distortion (THD) of the three phase-current waveforms is reduced. The neutral wire current,after compensation,is about 0 A showing that the topology of the four-leg shunt APF is feasible and the proposed scheme is effective.
基金Sponsored by the Scientific Research Foundation of Beijing Normal University and the Grants from the National Postdocteral Foundation of China.
文摘The layered control architecture is designed for the need of the multirobot intelligent team formation.There are three levels:the cooperation task level,the coordination behavior level and the action planning level.The cooperation task level uses the potential grid method,which improves the safety of the path and reduces the calculation complexity.The coordination behavior level uses the reinforcement learning which can strengthen the robots’ intelligence.The action planning level uses the fuzzy planning methods to realize the action matching.The communication model transfers the message in different level.This architecture shows not only the independence and the intelligence of the single robot but also the cooperation and the coordination among the robots.In each level,the task is distributed reasonably and clearly.Finally the feasibility of the architecture is verified further in the simulation of the experiment.The expansibility of the architecture is good and the architecture can be used in the similar system.
