Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration.However,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical application.To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability.Based on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set up.In view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force distribution.Then,the power consumption of robot mobile system is solved under different working conditions.The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and span.The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption.According to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and span.Then,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system.The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

EPC总承包项目中配电系统设计优化创效研究

在EPC总承包项目中,设计阶段对项目工程质量、工程造价有着重要影响。针对EPC项目配电系统设计的优化创效实施方案,从主电源方案、变压器选型、柴油发电机选型、配电干线系统、干线电缆选择等5个方面展开技术方案对比及经济性比选,对实际工程案例进行阐述与分析,为其他EPC工程总承包项目的电气专业设计优化创效提供优化方向及创效要点。

Survey of Residential Air Conditioning Electricity Consumption in Shanghai

With proliferation of electric appliances, residential electricity consumption, in particular the air conditioning load becomes more and more important and shares higher and higher percentage in total consumption in large cities like Shanghai. The paper reports in detail the survey on characteristics of residential electric consumption, in particular the air conditioning consumption. To optimize power system operation and expand power market, the paper concludes that power industry must learn to investigate, open up and adapt itself to power market economy.

Estimate of China's energy carbon emissions peak and analysis on electric power carbon emissions

China＇s energy carbon emissions are projected to peak in 2030 with approximately 110% of its 2020 level under the following conditions： 1） China＇s gross primary energy consumption is 5 Gtce in 2020 and 6 Gtce in 2030; 2） coal＇s share of the energy consumption is 61% in 2020 and 55% in 2030; 3） non-fossil energy＇s share increases from 15% in 2020 to 20% in 2030; 4） through 2030, China＇s GDP grows at an average annual rate of 6%; 5） the annual energy consumption elasticity coefficient is 0.30 in average; and 6） the annual growth rate of energy consumption steadily reduces to within 1%. China＇s electricity generating capacity would be 1,990 GW, with 8,600 TW h of power generation output in 2020. Of that output 66% would be from coal, 5% from gas, and 29% from non-fossil energy. By 2030, electricity generating capacity would reach 3,170 GW with 11,900 TW h of power generation output. Of that output, 56% would be from coal, 6% from gas, and 37% from non-fossil energy. From 2020 to 2030, CO2 emissions from electric power would relatively fall by 0.2 Gt due to lower coal consumption, and rela- tively fall by nearly 0.3 Gt with the installation of more coal-fired cogeneration units. During 2020--2030, the portion of carbon emissions from electric power in China＇s energy consumption is projected to increase by 3.4 percentage points. Although the carbon emissions from electric power would keep increasing to 118% of the 2020 level in 2030, the electric power industry would continue to play a decisive role in achieving the goal of increase in non-fossil energy use. This study proposes countermeasures and recommendations to control carbon emissions peak, including energy system optimization, green-coal-fired electricity generation, and demand side management.

Optimal Scheduling Strategy for Energy Consumption Minimization of Hydro-Thermal Power Systems

A comparison analysis based method for computing the water consumption volume needed for electric energy production of optimal scheduling in hydro-thermal power systems is presented in this paper. The electric energy produced by hydroelectric plants and coal-fired plants is divided into 4 components: potential energy, kinetic energy, water-deep pressure energy and reservoir energy. A new and important concept, reservoir energy, is proposed, based on which is divided into a number of water bodies, for example 3 water bodies, and a reservoir is analyzed in a new way. This paper presents an optimal scheduling solution of elec-tric energy production of hydro-thermal power systems based on multi-factors analytic method, in which some important factors, such as load demand, reservoir in-flow, water consumption volume increment rate of hydroelectric plants or converted from coal-fired plants, and so on are given to model the objective function and the constraints. A study example with three simulation cases is carried out to illustrate flexibility, adapta-bility, applicability of the proposed method.

Optimisation of Electrical Distribution System by Using Solar Thermal Powered Systems and Its Impact on Electrical Distribution Feeders

In this research, the performance of the solar thermal powered systems (STPS) is analyzed with different models (without inserts, with inserts and with Nano fluids with different concentrations) and its impact on the Electric load in a residential/Institutional Electrical Distribution system. For this purpose, the electrical and solar thermal water heater is tested and validated. Solar thermal powered systems and its impact on the Institutional electrical distribution feeders are tested and compared with the energy efficiency (EE) and cost optimization. The goal of this paper is to analyze the impact of solar thermal energy on electrical energy consumption in the electrical distribution feeder level. The electrical system cost and energy consumptions are tabulated and observed that there is a considerable savings.

Power Network Construction Speeded Up Social power consumption steadily Increased

In this paper, nationwide and State Power Corporation based power production, network operation and power construction during January to September of year 2000 is elaborated with statistical data, and the social electricity consumption is analyzed based on industries and regions.

基于EPC模式下的办公建筑超低能耗机电技术应用与分析

本工程是上海临港新片区首个以EPC总价模式申报超低能耗和绿建三星建筑评价标准的办公类工程项目。以超低能耗相关设计要求为主线,通过能耗模拟及工程投资概算情况得出重点专业专项类别,基于此进行设计方案综合比选,找出一套既经济又能满足相关节能要求的机电设计措施方案,为今后类似工程机电系统超低能耗相关设计提供参考经验。

电力设计企业EPC项目智慧安监设计与实践

针对电力设计企业EPC项目智慧安监建设存在的问题,文章从电力设计企业安全管理的实际需求出发,对智慧安监建设的总体架构进行了设计,提出了平台建设方案,根据不同项目面临的安全风险对项目智慧安监功能进行了差异化配置,以期为电力设计企业智慧安监建设提供有价值的实施方案。

适应新型电力系统的电力互替品市场——(一)理念与构想

新型电力系统重塑了能源生产消费结构,电力市场机制也需随之改变。首先,分析指出提升系统调节能力是新型电力系统下市场机制设计的首要目标;围绕该目标给出了市场机制应具备的特点,包括利于激发调节动力、释放调节能力、接纳各种新型调节资源等。其次,对世界各国现货市场普遍采用的分时交易机制进行了分析,指出其与新型电力系统存在诸多不适应之处,包括市场主体调节贡献无法被量化表征,市场主体连续运行特性与分时交易机制相矛盾、调节能力难以完全释放,以及难以满足海量柔性资源直接参与电力市场的需求等。为此,文中舍弃分时交易的方式,转而提出整体交易机制与电力互替品概念,介绍了形成与交易电力互替品的主要思路,并以电力互替品为核心构想了新型市场机制。该机制可通过调节责任划分量化各主体调节贡献,激发市场主体的调节动力;同时,也能促进市场主体主动优化自身运行方式,释放调节能力;具有易于扩展的优势,可轻松接纳新型电力系统下层出不穷的各类新型主体。

某纯电驱动重载车辆能耗预测模型

高精度能耗预测模型是准确预测车辆续驶里程的重要前提。针对载荷大幅度变化且非结构化道路运行的纯电驱动重载车辆,建立其组合能耗模型,该模型由能耗计算基本模型与长短时记忆(Long Short-Term Memory,LSTM)神经网络差值修正两部分组成。基于能量流动过程驱动电机和变速器效率建模,结合汽车行驶动力学建立能耗计算基本模型;采用LSTM神经网络来修正基本模型能耗预测结果与车辆典型工况功率测试值的差值,有效提高了大幅变载荷且低信噪比坡度环境下的车辆能耗预测精度,因此组合能耗模型具有参数简单和模型拟合不需解释能耗规律的优点。经试验测试分析,与VT-Micro能耗模型和径向基(Radial Basis Function,RBF)神经网络能耗模型相比,所提组合能耗模型的功率预测平均误差率分别降低了17.76%和3.35%,能够实现纯电驱动重载车辆复杂工况下能耗的准确实时预测。

考虑碳排放的电动汽车与光伏协同的调度策略

从负荷聚合商角度考虑,通过提高其运营负荷中电动汽车充电负荷与光伏的协同性,可以实现聚合商对光伏的及时消纳,降低碳排放水平。首先,结合光伏出力特点与需求响应形式提出两种电动汽车调度策略:“绿电”收费策略与“绿电”补贴策略。“绿电”收费策略即依据光伏出力情况,制定出高、中、低三档的充电价格引导电动汽车有序充电;“绿电”补贴策略是在“绿电”收费策略的基础上,对各时段的充电价格给予不同额度的补贴,进一步提高电动汽车响应积极性。通过将碳排放水平纳入经济性目标建立包含售电收益、服务费收益以及碳收益的综合收益最大的目标函数,并运用遗传算法进行优化求解。仿真结果表明,所提策略有效提高了电动汽车与光伏的协同性,实现了负荷聚合商的增收减排。

双积分政策下考虑电耗、新能源偏好的决策研究

为探讨汽车制造商面对国内汽车行业电气化转型的生产决策问题,在双积分政策背景下针对制造商、零售商组成的二级供应链构建两种生产情形下不同决策模型,并引入新能源汽车电能消耗和消费者新能源偏好,运用Stackelberg博弈求得不同生产情形中不同决策模式下供应链各成员最优生产决策与收益分析。结果表明:双积分政策的深入实施有利于提高新能源汽车电能消耗水平,降低新能源汽车销售价格,扩大市场规模的同时促使燃油车提高减排水平;车企应选择在集中决策模式下提高新能源车型产能,逐渐减少传统燃油车产量,给供应链中各成员带来更多收益;从短期看制造商继续生产燃油车的生产情形所获收益虽高于停产燃油车情形,但其收益波动较大且制造商停产燃油车全面转型生产新能源汽车后的收益呈稳定增长趋势。

计及动态碳排放对新能源消纳市场的价格研究

通过丰富电力市场交易方式,可有效提高新能源消纳水平。针对现有电力市场无法有效控制碳排放的特点,提出计及动态碳排放的电力市场出清方法,将火电碳排放成本动态传导到电价中,从而使部分发电权向新能源转移。同时,当发生弃能时,对弃能机组引入价格因子替换报价,进行电力市场二次出清,深度促进新能源应发尽发,以激励相容机制平衡发电权转受让方收益。采用改进的IEEE 30节点系统进行仿真验证,提出的电力市场交易机制能有效降低火电机组的碳排放并促进风光消纳,验证了该方法的有效性。

面向东北电网调峰辅助服务市场交易主体的分摊上限动态机制设计

东北电网现行的调峰辅助服务市场机制难以应对市场结构变化带来的交易主体实际调峰收益低于预期、积极性降低等问题,且难以满足未来我国以新能源为主体的新型电力系统发展需求。在介绍东北电网现行调峰辅助服务市场费用分摊机制的基础上,分析其局限性,提出面向市场参与主体的分摊上限动态调整机制,以保障调峰供应方的调峰收益;构建以市场交易主体综合收益最高为目标的动态分摊上限数学模型,并提出用于评估调峰辅助服务市场的指标体系。基于辽宁省电网实际运营数据的算例结果验证了所提机制的合理性与有效性。

基于战略联盟的电力工程EPC项目信息化管理平台

近年来,EPC模式在电力工程中逐渐被采用,该模式能够实现设计与施工的合理交叉,但同时也存在项目各参与方相对独立、信息共享度低下等问题,从而影响项目管理水平及工作效率。因此,迫切需要对EPC项目进行信息化管理。引入战略联盟理论,在结合电力工程EPC项目特点的基础上,对电力工程EPC项目信息化管理理论系统进行设计,并构建出基于战略联盟的电力工程EPC项目信息化管理平台。该平台的构建对于实现EPC项目战略联盟参与方之间的信息共享,协同决策具有重要意义,并为EPC模式在电力工程中的进一步推广提供借鉴。

高比例新能源系统中各类电网侧储能设施调峰效益对比

储能电站的效益评估是储能大规模发展的关键。对高比例新能源系统电网侧储能的效益进行了全面评估,通过全时段8760 h生产仿真模拟,在保持系统供电可靠性不变的约束下,计算了抽水蓄能、压缩空气、电化学储能等储能电站的容量效益、电量效益,考虑了各类储能电站的运行策略。仿真模拟过程中,以周为节点,计算全年8760 h的系统运行状态,考虑了储能电站的运行效率、机组启停、跨日调节等因素,避免了典型日生产模拟无法模拟储能跨日调节导致的储能容量和电量效益评估失真的问题。最后,以中国西北地区实际高比例新能源系统为研究对象,分析了各种储能对减少火电装机、降低新能源弃电率的作用,研究结果可为中国高比例新能源系统电网侧储能电站的建设提供参考。

动态省级电力CO_(2)排放因子对区域碳达峰路径的影响

电力CO_(2)排放因子是精准核算消费端间接排放的重要参数,也是准确量化消费端CO_(2)排放路径的核心指标。本文首次探究了2020—2035年省级电力CO_(2)排放因子的时空特征并与官方来源因子进行对比,全面整合了历史直接排放数据以及精准量化电力消费间接排放的重要性,详细预测了不同情景下2020—2035年省级电力消费间接排放及各省排放路径并量化不同时空精度电力CO_(2)排放因子对各省排放路径的影响。研究表明:(1)2020—2035年,各省电力CO_(2)排放因子呈现持续下降趋势,而现有公开的电力CO_(2)排放因子与本研究省级水平相比存在差异;(2)2010—2020年,电力净调入省份的电力消费间接排放及其占比逐渐增加,北京、上海、浙江等省份占比最高;(3)在情景1和情景3(全国、省级维度因子固定不变情景)下,各省的电力消费间接排放和总排放显著高于情景2和情景4(全国、省级维度因子动态变化情景)的估算结果;情景1和情景2(全国维度因子固定不变、动态变化情景)与情景3和情景4(省级维度因子固定不变、动态变化情景)中的估算结果差异较大;对于如北京、上海、广东等电力消费间接排放占比较大的省份,选取不同空间精度的电力CO_(2)排放因子对其排放总量影响较为明显,进一步导致相关达峰年的偏移。研究结论对支撑各省碳达峰路径规划、降低电力消费间接排放预测的不确定性具有参考价值。

基于庞特里亚金极小值原理的柴电混合动力船舶能量管理策略

提升混合动力船舶的能源利用率,制定合适的能量管理策略以实现功率合理分配、减小船舶燃油消耗、节约成本,是混合动力船舶的亟需解决的关键技术问题。本文基于Matlab/Simulink仿真建模软件,建立对象船舶的动力系统仿真模型,研究不同功率需求下对柴油发电机和超级电容的控制要求。考虑动力源特性和船舶功率需求,本文提出了一种基于庞特里亚金极小值的能量管理策略对目标船舶进行合理的功率分配。仿真结果表明:基于庞特里亚金极小值原理的能量管理策略能够优化船舶柴油机组原动机的工作状态,使其在比油耗较低的点工作。在该策略的控制下,航行工况内的柴油发电机组原动机平均比油耗为207.2 g/(kW·h),总燃油消耗量为204.1 kg。本文方法不仅对船舶减小燃油消耗具有积极的作用,同时对提高船舶运行经济性具有重要意义。