As power systems experience increased wind penetration,an effective analysis and assessment of the influence of wind energy on power system transient stability is required.This paper presents a novel center of inertia...As power systems experience increased wind penetration,an effective analysis and assessment of the influence of wind energy on power system transient stability is required.This paper presents a novel center of inertia(COI)approach to understand how integrated doubly fed induction generators(DFIGs)affect the transient dynamics of a power system.Under the COI coordinate,the influence of integrated DFIGs is separated into the COI related and individual synchronous generator related parts.Key factors that affect the COI’s dynamic motion as well as the rotor dynamics of each individual synchronous generator with respect to the DFIG integration are investigated.To further validate the analysis,comparative simulations of three different scenarios with varying DFIG capacities,access locations,and the replacement of synchronous generators are conducted.The results show that the dynamics of the COI and the individual generators are affected by the integrated DFIGs via different mechanisms,and are sensitive to different variables in the DFIG’s integration condition.展开更多
Controlling the quadruped robot for walking on a rough terrain without any visual perception is a great challenge. In the present study, a simple measuring method is proposed for obtaining the total force applied on t...Controlling the quadruped robot for walking on a rough terrain without any visual perception is a great challenge. In the present study, a simple measuring method is proposed for obtaining the total force applied on the center of inertia of the quadruped robot with force sensing information in the static gait. Based on the zero moment point stable criterion, an extended criterion on the virtual supporting plane is presented to guarantee the stable walking of the quadruped robot. Moreover, an adaptive omnidirectional gait planning is developed for the quadruped robot applying the extended zero moment point on the center of inertia to obtain the stable criterion over rough terrain. It is found that when the proposed gait planning is applied on the quadruped robot, unknown surroundings successfully adapted without establishing the huge height map. Experiments are carried out to investigate walking of the quadruped robot at three different conditions, including the flat, rough terrain, and rough slope. It is concluded that the proposed method has reasonable performance in the studies case.展开更多
基金supported in part by the Major Program of the National Natural Science Foundation of China under Grant 51190103the National High Technology Research and Development Program of China under Grant 2012AA050208.
文摘As power systems experience increased wind penetration,an effective analysis and assessment of the influence of wind energy on power system transient stability is required.This paper presents a novel center of inertia(COI)approach to understand how integrated doubly fed induction generators(DFIGs)affect the transient dynamics of a power system.Under the COI coordinate,the influence of integrated DFIGs is separated into the COI related and individual synchronous generator related parts.Key factors that affect the COI’s dynamic motion as well as the rotor dynamics of each individual synchronous generator with respect to the DFIG integration are investigated.To further validate the analysis,comparative simulations of three different scenarios with varying DFIG capacities,access locations,and the replacement of synchronous generators are conducted.The results show that the dynamics of the COI and the individual generators are affected by the integrated DFIGs via different mechanisms,and are sensitive to different variables in the DFIG’s integration condition.
基金the National Key R&D Program of China(2019YFB1309600)the National Natural Science Foundation of China(51775011&91748201)are gratefully acknowledged.
文摘Controlling the quadruped robot for walking on a rough terrain without any visual perception is a great challenge. In the present study, a simple measuring method is proposed for obtaining the total force applied on the center of inertia of the quadruped robot with force sensing information in the static gait. Based on the zero moment point stable criterion, an extended criterion on the virtual supporting plane is presented to guarantee the stable walking of the quadruped robot. Moreover, an adaptive omnidirectional gait planning is developed for the quadruped robot applying the extended zero moment point on the center of inertia to obtain the stable criterion over rough terrain. It is found that when the proposed gait planning is applied on the quadruped robot, unknown surroundings successfully adapted without establishing the huge height map. Experiments are carried out to investigate walking of the quadruped robot at three different conditions, including the flat, rough terrain, and rough slope. It is concluded that the proposed method has reasonable performance in the studies case.
