Model Predictive Control Strategy of Multi-Port Interline DC Power Flow Controller

There are issues with flexible DC transmission system such as a lack of control freedom over power flow.In order to tackle these issues,a DC power flow controller(DCPFC)is incorporated into a multi-terminal,flexible DC power grid.In recent years,a multi-port DC power flow controller based on a modular multi-level converter has become a focal point of research due to its simple structure and robust scalability.This work proposes a model predictive control(MPC)strategy for multi-port interline DC power flow controllers in order to improve their steady-state dynamic performance.Initially,the mathematical model of a multi-terminal DC power grid with a multi-port interline DC power flow controller is developed,and the relationship between each regulated variable and control variable is determined;The power flow controller is then discretized,and the cost function and weight factor are built with numerous control objectives.Sub module sorting method and nearest level approximation modulation regulate the power flow controller;Lastly,theMATLAB/Simulink simulation platformis used to verify the correctness of the establishedmathematicalmodel and the control performance of the suggestedMPC strategy.Finally,it is demonstrated that the control strategy possesses the benefits of robust dynamic performance,multiobjective control,and a simple structure.

Hardware Type 2 Fuzzy Logic Position Controller Based on Karnik-Mendel Algorithms

This paper presents an analysis of the KM （Karnik-Mendel） algorithms performance under real time implementation using 3 types： the non-iterative, the iterative and the enhanced, and their feasibility for real-time interval type 2 fuzzy logic control system applications. The results are also compared against NT （Nie-Tan） method that is one of the fastest and simplest defuzzification methods. Because the DC （direct current） servo-motor is one of the most used motors in different industrial applications and the model of the motor is nonlinear, this motor was selected for validating the implementation in real time hardware. This DC motor is a perfect option for studying the real time performance of KM algorithms in order to show up its limits and possibilities for real-time control system applications. These methodologies are implemented in National Instruments LabVIEW FPGA （field programmable gate array） module hardware which is one of the most used platforms in the industry. The results show that the E-KM （enhanced KM） algorithm and the NT method present good results for implementing real-time control applications in real time hardware. Although fuzzy logic type 2 is a good option for working with nonlinear and noise from the sensors, the defuzzification method has to react in a short period of time in order to allow good control response. Hence, a complete study of defuzzification is needed for improving the real time implementations of fuzzy type 2.

Application of Diagonal Recurrent Neural Network toDC Motor Speed Control Systems

A new kind of dynamic neural network--diagonal recurrent neural network (DRNN) and its learning method and architecture are presented. A direct adaptive control scheme is also developed that is applied to a DC (Direct Current) speed control system with the ability to auto-tune PI (Proportion Integral) parameters based on combining DRNN with PI controller. The simulation results of DRNN show better control performances and potential practical use in comparison with PI controller.

Control of the DC Output Voltage of the AC/DC Converter Using Sliding Mode Control： Application to PMSG

This paper presents sliding mode technique associated to the direct torque control （DTC） for an isolated-loaded permanent magnet synchronous generator （PMSG）. The machine delivers an active power to a DC-load via a converter connected to a single capacitor on the DC side. Since the converter/capacitor model is nonlinear, the sliding mode technique constitutes a powerful tool to ensure the DC-bus voltage regulation. The computer simulations are provided to verify the validity of the proposed control algorithm.

Application of Homemade DCS in Integrated BOP Control of 600-MW Supercritical Unit

The PLC and upper computer are used in BOP control system of traditional thermal power plant to monitor the in-situ equipment. It is complicated and wastes labor and resources. It is difficult to maintain and manage them. Beijing GuoDian ZhiShen Control Technology applied the homemade DCS (EDPF-NT System) to the integrated BOP control system of 600-MW supercritical power unit, which offers advantages in efficiency promotion, cost reduction and resource sharing. That also reflects the dominance of EDPF-NT System in performance, price, real-time DUP, network compatibility and communication. This article introduces the main characteristics, structure and configuration of EDPF-NT System, as well as the hierarchical operation, the multi-domain network structure and the private network router developed for Zhuanghe Power Plant.

Optimization of Control Loops and Operating Parameters for Three-Phase Separators Used in Oilfield Central Processing Facilities

In this study,the Stokes formula is used to analyze the separation effect of three-phase separators used in a Oilfield Central Processing Facility.The considered main influencing factors include(but are not limited to)the typical size of oil and water droplets,the residence time and temperature of fluid and the dosage of demulsifier.Using the“Specification for Oil and Gas Separators”as a basis,the control loops and operating parameters of each separator are optimized Considering the Halfaya Oilfield as a testbed,it is shown that the proposed approach can lead to good results in the production stage.

Threshold decision for instrument control system and its application in nuclear power plant

Threshold decision is an important function of nuclear instrument control system based on physical parameters threshold decision. Because the conventional decision methods lack correlation with time and conditions, by analyzing the existing methods, some optimized methods are adopted. Considering safety, those methods are improved in data processing algorithms, floating threshold with multiple values, association with specific working condition, etc. These measures im- prove the nuclear instrument control system in fault tolerance and fault diagnosis, especially, the shutdown number of nucle- ar power plant decreases.

舰艇战斗损管决策建模及信息化系统研究

舰艇损管是保障舰艇生命力的最后一道防线。战斗损管,是区别于平时损管的更为复杂和严酷的战术和技术指挥行动。考虑到战斗破损灾害特征的复杂性,战斗损管决策模型的构建也将更为复杂,实现决策支持系统与其他接口的信息融合更为困难。为解决以上问题,首先针对战斗损管决策的两个关键模型进行了建模,完成了战斗损管决策的方法研究。然后在建立数据图层的基础上,研究开发了舰载战斗损管决策信息化系统,并在损管指挥训练系统中进行了实际应用和测试。应用结果表明,模型和系统显著提高了决策的速度和精度,是辅助开展战斗损管指挥的重要手段。

A DC Current Flow Controller for Meshed Modular Multilevel Converter Multiterminal HVDC Grids

This paper proposes the design of a novel DC current flow controller(CFC)and evaluates the control performance of balancing and regulating the DC branch currents using the DC CFC in a meshed multi-terminal HVDC(MTDC)grid.The DC CFC consists of two identical full bridge DC-DC converters with the capacitors of the two converters being connected in parallel.The scalability of the DC CFC is easily achievable due to the identical bridge converter topology;the cost of this DC CFC is also relatively low due to its simple physical structure and low voltage ratings.The control performance of the DC CFC is tested on a meshed 3-terminal(3-T)HVDC grid,which is based on modular multilevel converters(MMC).The DC branch current control in the meshed MTDC grid is achieved using the proposed control strategy of the DC CFC,and is verified through case studies on the real-time digital simulator(RTDS).

Analysis and Control of Modular Multi-terminal DC Power Flow Controller with Fault Current Limiting Function

In order to overcome the problems of power flow control and fault current limiting in multi-terminal high voltage direct current(MTDC)grids,this paper proposes a modular multi-terminal DC power flow controller(MM-DCPFC)with fault current limiting function.The topology structure,operation principle,and equivalent circuit of MM-DCPFC are introduced,and such a structure has the advantages of modularity and scalability.The power balance mechanism is studied and a hierarchical power balance control strategy is proposed.The results show that MM-DCPFC can achieve internal power exchange,which avoids the use of external power supply.The fault characteristics of MM-DCPFC are analyzed,fault current limiting and self-protection methods are proposed,and the factors affecting the current limiting capability are studied.The simulation models are established in PLECS,and the simulation results verify the effectiveness of MM-DCPFC in power flow control,fault current limiting,and scalability.In addition,a prototype is developed to validate the function and control method of MM-DCPFC.

Nyquist Stability Analysis and Capacitance Selection for DC Current Flow Controllers in Meshed Multi-terminal HVDC Grids

Controllability of DC current/power flow is essentialin multi-terminal HVDC (MTDC) grids, particularly for theMTDC grids in a meshed topology. In this paper, consideringmeshed MTDC (M2TDC) grids with the installation of twoline/multi-lineDC current flow controllers (CFCs), a small-signalmodel of the DC CFCs integrated M2TDC grids is derived,studying the impact of the power losses of the DC CFC andtheir influence on the analysis of energy exchanges. The systemstability analysis is analysed using the Nyquist diagram, which ismore suitable for analyzing complex nonlinear systems with morecompact and reliable indicators of stability in comparison withgain/phase margins shown in the Bode diagram. In addition, aselection method of the interconnected capacitor of the DC CFCis proposed under different operating conditions. The impact ofthe switching frequencies of the DC CFC on the control ranges ofthe DC current flows is analyzed. The effectiveness of the Nyquistanalysis and the capacitance selection method is verified bysimulation studies using PSCAD/EMTDC. The obtained control ranges of the DC CFC with different switching frequenciesand capacitances would be useful for practical engineeringapplications.

Design of Automatic Baby Nursing Trolley based on Intelligent Sensing Technology

This paper study and solve the design and manufacture of baby care car, its unique function is the baby carriage can be used as a baby bed, when necessary, it can also become a nursing car, sensor in the vehicle can be real-time detected whether the baby bed wetting and induction time will give parents information feedback; the humidity sensing probe controlled by single chip microcomputer and with the bottle clamp flexible connecting rod, can realize the baby auxiliary nurse; remote wireless commtmication system can allow parents to monitor children＇ s state. The design of intelligent baby carriage, to enhance the technological content of products, promote the innovation of design China bassinet production, has the important practical significance to seize the smart baby car market.

DISOPE distributed model predictive control of cascade systems with network communication

A novel distributed model predictive control scheme based on dynamic integrated system optimization and parameter estimation （DISOPE） was proposed for nonlinear cascade systems under network environment. Under the distributed control structure, online optimization of the cascade system was composed of several cascaded agents that can cooperate and exchange information via network communication. By iterating on modified distributed linear optimal control problems on the basis of estimating parameters at every iteration the correct optimal control action of the nonlinear model predictive control problem of the cascade system could be obtained, assuming that the algorithm was convergent. This approach avoids solving the complex nonlinear optimization problem and significantly reduces the computational burden. The simulation results of the fossil fuel power unit are illustrated to verify the effectiveness and practicability of the proposed algorithm.

Anti-Windup Control Strategy of Drive System for Humanoid Robot Arm Joint

To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.

An Advanced Teaching Lab for the Setting up of an Islanded Production Unit

The present paper addresses an advanced teaching lab consisting of setting up an islanded production unit. This teaching lab takes place in the very last semester at master level for students in electrical engineering with energy specialization. The purpose of this teaching lab is to combine knowledge learned in different areas such as power electronics, control, electrical machines and networks, and make use of all of them in practice. The present paper describes in detail the different steps followed by the student to set up an islanded production unit.

Reduced-order Modeling and Dynamic Stability Analysis of MTDC Systems in DC Voltage Control Timescale

An equivalent source-load MTDC system including DC voltage control units,power control units and interconnected DC lines is considered in this paper,which can be regarded as a generic structure of low-voltage DC microgrids,mediumvoltage DC distribution systems or HVDC transmission systems with a common DC bus.A reduced-order model is proposed with a circuit structure of a resistor,inductor and capacitor in parallel for dynamic stability analysis of the system in DC voltage control timescale.The relationship between control parameters and physical parameters of the equivalent circuit can be found,which provides an intuitive insight into the physical meaning of control parameters.Employing this model,a second-order characteristic equation is further derived to investigate system dynamic stability mechanisms in an analytical approach.As a result,the system oscillation frequency and damping are characterized in a straight forward manner,and the role of electrical and control parameters and different system-level control strategies in system dynamic stability in DC voltage control timescale is defined.The effectiveness of the proposed reduced-order model and the correctness of the theoretical analysis are verified by simulation based on PSCAD/EMTDC and an experiment based on a hardware low-voltage MTDC system platform.

Net Damping Criterion for Stability Analysis of Grid-tied VSCs in DC Voltage Control Timescale

Stability of grid-connected VSCs in DC voltage control(DVC)timescales(i.e.,the frequency range of dynamics covering converter outer controls)has recently caught increased attention,while the existing approaches,such as eigenvalue analysis and dq-domain impedance analysis,have respective limitations on addressing these types of stability issues.This paper proposes an alternative net damping criterion dedicated for analyzing the DVC timescale stability in a multi-VSC system.This criterion is strictly mapped from the Nyquist stability criterion utilizing the gain margin concept,which preserves the advantages of the classical positive net damping criterion suggested by Canay[20]–allowing for decomposition analysis of a subsystem’s contribution to the closed-loop stability in a single-input single-output(SISO)framework,but overcomes its deficiency of possibly erroneous prediction of system dynamic behaviors.Case studies show that the proposed criterion can correctly predict some unstable conditions(e.g.,monotonic divergence)which cannot be identified by the classical net damping criterion.Additionally,the condition for when the classical criterion is available is also pointed out,the proposed criterion can also act as a complement of the classical criterion for stability examination.

Frequency Control at the Power Sending Side for HVDC Asynchronous Interconnections Between Yunnan Power Grid and the Rest of CSG

For a large-scale high voltage direct current (HVDC)asynchronous interconnected power grid, the frequency issue atthe power sending side under DC faults is a crucial problem.To solve this problem, based on rotor motion equations, theeffect of unbalanced power on the system frequency under DCfaults is analyzed. The characteristics and dynamic developmentprocess of frequencies after the injection of disturbances areanalyzed. In addition, the actions and coordinated strategies ofvarious frequency control measures are also investigated. Basedon the testing projects of an asynchronous interconnection in theChina Southern Power Grid (CSG), the frequency features arestudied according to the measured PMU data. The outcome showsthat the frequency problem of the Yunnan Power Grid after anasynchronous interconnection can be solved and controlled. Italso shows that the frequency limit control (FLC) is importantfor the frequency regulation of large scale HVDC asynchronousinterconnected DC power grids. As demonstrated, DC FLC caneffectively suppress the deviation of the transient frequency.However, reasonable frequency regulation parameters shouldbe set and other area frequency control measures should becoordinated to maintain the frequency stability of the system.

Modeling,Control,and Protection of Modular Multilevel Converter-based Multi-terminal HVDC Systems:A Review

Multi-terminal direct current(MTDC)grids provide the possibility of meshed interconnections between regional power systems and various renewable energy resources to boost supply reliability and economy.The modular multilevel converter(MMC)has become the basic building block for MTDC and DC grids due to its salient features,i.e.,modularity and scalability.Therefore,the MMC-based MTDC systems should be pervasively embedded into the present power system to improve system performance.However,several technical challenges hamper their practical applications and deployment,including modeling,control,and protection of the MMC-MTDC grids.This paper presents a comprehensive investigation and reference in modeling,control,and protection of the MMC-MTDC grids.A general overview of state-of-the-art modeling techniques of the MMC along with their performance in simulation analysis for MTDC applications is provided.A review of control strategies of the MMC-MTDC grids which provide AC system support is presented.State-of-the art protection techniques of the MMCMTDC systems are also investigated.Finally,the associated research challenges and trends are highlighted.

Impedance Modeling and Stability Analysis of PV Grid-connected Inverter Systems Considering Frequency Coupling

Impedance analysis is an effective method to analyze the oscillation issue associated with grid-connected photovoltaic systems.However,the existing impedance modeling of a gridconnected photovoltaic inverter usually only considers the effect of a single perturbation frequency,ignoring the coupling frequency response between the internal control loops of a grid-connected inverter,which severely affects the accuracy of the stability analysis.Hence,a method of impedance modeling and stability analysis for grid-connected photovoltaic inverters considering cross-coupling frequency is proposed in this paper.First,the generation mechanism of frequency coupling in gridconnected photovoltaic inverters,and the relationship between the coupling frequency and perturbation frequency are analyzed.Secondly,a sequence impedance model of grid-connected photovoltaic systems considering the coupling frequency is established by using the harmonic linearization method.The impact of DC bus voltage control strategy on frequency coupling characteristics of a grid-connected photovoltaic system is evaluated,and the impact of a coupling frequency term on system stability is quantitatively analyzed.Finally,the advantages of the proposed method are verified by several simulations.The results show that the proposed impedance model can accurately predict the potential resonance points of the system,and the coupling frequency characteristics will become much stronger with smaller DC bus capacitance or larger bandwidth of the DC bus controller.