Research on A Master - slave Multi - microcomputers Control System for Hollow Spindle Fancy Yarn Spinning Machine

In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.

风电租赁储能参与电能-调频市场竞价策略

风电参与市场化竞价运营,可有效激发风电的市场力及其主动租赁储能改善调频性能的积极性,在提升风电运营效益的同时,助力电网的调频调峰,但需解决风储调频性能指标优化及其电能-调频双市场竞价策略协同优化等关键问题。为此,提出了风电参与电能-调频市场竞价双层优化模型:上层为双市场多主体竞价出清模型;下层为各主体竞价策略优化模型,响应上层出清结果,优化调整竞价策略,达到各主体效益最大化。下层模型嵌套了考虑风电不确定性的储能运营商与风电集群储能租赁价格/容量主从博弈优化模型。双层模型联合求解,得出最终风电集群租赁储能容量及其双市场竞价策略。算例结果表明,所提方法能够提升风电运营效益,助力电网调频调峰。

计及设备变负载率特性的综合能源系统“源-荷-储”协同优化调度策略

针对传统综合能源系统忽略设备变负载率特性建模而导致调度方案经济性降低等问题,提出了一种计及设备变负载率特性的综合能源系统“源-荷-储”协同优化调度策略。文章基于对系统“源-储”两侧设备运行特性的研究,建立了设备的变负载率模型,以减少传统恒定效率模型带来的调度误差;引入主从博弈理论分析了综合能源系统供需两侧之间的交互过程,建立了计及设备变负载率特性的供需两侧主从博弈模型,进而证明了所提模型存在唯一博弈均衡,并提出相应求解流程;最后,对某园区综合能源系统进行仿真分析。结果表明:所提策略能够实现综合能源系统“源-荷-储”协同运行,提升供给侧与需求侧的经济效益。

考虑灵活性资源和多能共享的低碳区域综合能源系统联盟-配电网博弈优化调度

随着全国碳交易市场政策落地,为充分挖掘区域综合能源系统(regional integrated energy system,RIES)低碳减排能力,提高多区域综合能源系统接入主动配电网(active distribution network,ADN)的经济交互效益,提出了考虑灵活性资源与低碳交互结构的区域综合能源系统联盟参与配电网调峰调度的优化调度策略。建立了以主动配电网为主体,区域综合能源系统联盟为从体的主从博弈模型。主体以最大化交互效益目标制定分时电价策略,从体成员间通过联络线实现多能共享,考虑碳交易制度以供能与碳交易成本之和最小为目标,响应主体电价策略,建立了下层多区域综合能源系统联盟合作博弈优化模型。引入包含需求响应、储能和电动汽车在内的灵活性资源,配合碳捕集-电转气耦合机组优化联盟内部各系统的低碳供能策略,满足联盟负荷需求。基于纳什议价理论完成联盟成员合作收益的分配。通过算例验证所提策略能够有效减少各区域综合能源系统碳排放,并保障主从交互经济效益。

基于改进用电碳计量的绿电市场-碳市场联动交易

为充分发挥绿电消纳的减碳作用,从用电侧碳减排的角度提出用电碳排放核算与绿电交易的认证方法,构建实现碳交易与绿电交易联动的日前零售市场交易模型。首先,明确用电侧的碳排放责任,通过区分不同属性电力的用电碳排放因子改进用电侧的碳计量方法;然后,提出以绿色证书为纽带的绿电交易与用电碳排放的互认机制,通过绿色证书抵消碳排放实现碳市场与绿电市场的联动交易;最后,构建考虑绿电市场和碳市场联动的日前零售市场交易主从博弈模型,并给出求解方法。算例仿真表明,所提方法可以激励用户调整用电结构,主动促进新能源电力消纳,从而降低碳排放。

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Exponential networked synchronization of master-slave chaotic systems with timevarying communication topologies

The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.

一种双层-四级随机-鲁棒优化调度模型及求解

提出一种考虑场景概率和出力不确定性的配电运营商-多微电网双层-四级随机-鲁棒优化模型及其求解方法。基于主从博弈原理构建上层配电运营商和下层微电网之间的主从关系,并分析主从博弈交易机制;配电运营商建立考虑风电场景概率不确定性的随机定价模型;下层微电网考虑风电场景概率不确定性和出力不确定性的影响,建立min-max-max-min四级结构的随机-鲁棒优化调度模型;提出了一种变量交替迭代的列约束生成算法,通过解耦四级结构来求解下层微电网随机-鲁棒模型;利用粒子群算法求解非凸的双层优化模型。最后,通过算例验证所提模型和方法的有效性。

主从遥操作位置-速度混合映射研究

主从异构型遥操作机器人系统在主从结构、自由度等方面的差异,导致其主端小范围操作空间难以覆盖从端大范围工作空间,以及从端难以精确定位。针对此问题,首先搭建了一套主从异构型遥操作机器人系统的软硬件平台,然后对主从端机器人进行运动学建模,进而提出了一种主端位置-从端速度和主端位置-从端位置混合切换的映射算法。一方面,所提算法通过主端位置-从端速度映射模式解决主从工作空间不匹配的问题,从而提高大范围空间下从端抵近目标的效率;另一方面,所提算法通过主端位置-从端位置映射模式实现从端精细定位,同时克服主端位置-从端速度映射中从端无法快速换向运动的缺陷。实验结果表明,所提混合映射算法能够实现主端遥操作从端机器人高效地完成复杂、精细的操作任务。

Master-slave robot force telepresence technology

In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.

Research on Master-slave Telerobot Force Telepresence Technology

A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.

Adaptive H_∞ Synchronization of Master-slave Systems with Mixed Time-varying Delays and Nonlinear Perturbations: An LMI Approach

This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed time delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaptation law including the master-slave parame- ters are established for designing a delayed synchronization law in terms of linear matrix inequalities（LMIs）. The time-varying controller guarantees the H ∞ synchronization of the two coupled master and slave systems regardless of their initial states. Particularly, it is shown that the synchronization speed can be controlled by adjusting the updated gain of the synchronization signal. Two numerical examples are given to demonstrate the effectiveness of the method.

Tremor suppression in master-slave robot remote welding system

Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.

Hierarchical hybrid control network design based on LON and master-slave RS-422/485 protocol

Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.

Power-combining based on master-slave injection-locking magnetron

A microwave power-combining system composed of two Panasonic 2M244-M1 magnetrons based on master–slave injection-locking is demonstrated in this paper. The principle of master–slave injection-locking and the locking condition are theoretical analyzed. Experimental results are consistent with the theoretical analysis and the experimental combined efficiency is higher than 96%. Compared with the external-injection-locked system, the power-combining based on the master–slave injection-locking magnetron is superior by taking out the external solid-state driver and the real-time phase control system. Thus, this power-combining system has great potential for obtaining a high efficiency, high stability, low cost, and high power microwave source.

Distributed Generation Islanding Effect on Distribution Networks and End User Loads Using the Master-Slave Islanding Method

This study aims to address the feasibility of planned islanding operation and to investigate the effect of unplanned islanding using the master-slave islanding method for controlling the distributed generation units during grid-connected and islanding operation. Neplan desktop power simulation tool was used for the modelling and simulation of a realistic MV network with four different distributed generation technologies (diesel, gas, hydro and wind) along with their excitation and governor control systems, while an exponential model was used to represent the loads in the network. The dynamic and steady state behavior of the four distributed generation technologies were investigated during grid-connected operation and two transition modes to the islanding situation, planned and unplanned. The obtained results that validated through various case studies have shown that a suitable planned islanding transition could provide support to critical loads at the event of electricity utility outages.

Content Addressable Memory Using Automatic Charge Balancing with Self-Control Mechanism and Master-Slave Match Line Design

Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge or discharge of match line. In this paper, CAM for automatic charge balancing with self-control mechanism is proposed to control the voltage swing of ML for reducing the power consumption of CAM. Another technique to reduce the power dissipation is to use MSML, it combines the master-slave architecture with charge minimization technique. Unlike the conventional design, only one match line (ML) is used, whereas in Master-Slave Match Line (MSML) one master ML and several slave MLs are used to reduce the power dissipation in CAM caused by match lines (MLs). Theoretically, the match line (ML) reduces the power consumption up to 50% which is independent of search and match case. The simulation results using Cadence tool of MSML show the reduced power consumption in CAM and modified CAM cell.

Master/Slave结构下可保证边竞争QoS限制的资源分配策略

任务调度作为分布式系统中提高系统并发处理的关键一直受到很多关注,随着分布式系统规模的扩大以及分布式系统中所处理任务数的增多,这个NP问题很多只能依靠启发式搜索技术获得近似最优解,然而这些算法中大都忽略了分布式系统中的一些实际问题,如通信竞争问题。已有的关注通信竞争的理论要么不适用于多任务的实时分布式系统,要么最终的任务分配无法实现整体makespan值最小(min-max)。本文提出了一个以master/slave为支撑结构,以最小化系统整体响应时间为代价函数的算术模型MMP。MMP既考虑了通信竞争问题,也考虑了多任务事实分布式系统的特征:任务数量多,任务间相互独立,任务以一定频率到达,任务执行受QoS限制。

基于Master/Slave模式的CT同时代数重建的并行进程

Mastel/Slave模式,又称主从模式,是一种并行程序设计思想。本文介绍了同时代数重建法(SimultaneousAlgebraicReconstructionTechnique,SART),并简化、改进了该算法:讨论了SART算法的并行性和基于Master/Slave模式的并行进程:通过算法复杂度分析和在以客户/服务器((Cient/Serve)模式组建的局域网上的网络并行重建试验,证明了该并行进程能较大地提高SART算法的时间效率。

基于Master Curve方法的A508-Ⅲ钢断裂韧性研究

进行了国产A508-Ⅲ钢在韧脆转变区的拉伸实验和夏比冲击实验,获得了A508-III钢在此区域的力学性能和夏比冲击功随温度的变化曲线。以夏比冲击功为28 J或41 J所对应的特征温度关联预估MasterCurve方法的试验温度,分别采用多温度试验法和单温度试验法获得12.7 mm厚三点弯曲试样[SE(B)试样]的Master Curve曲线,并对其参考温度T0进行有效性判定。结果表明,采用单温度及多温度法获得的T0基本一致,国产A508-Ⅲ钢断裂韧性参考温度约为-63℃。