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FAULT LOCATION ESTIMATION FOR TWO-LINE FAULT INVOLVING DIFFERENT PHASES FROM EACH OF PARALLEL LINES 被引量:1
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作者 张庆超 李铁 +1 位作者 张尧 宋文南 《Transactions of Tianjin University》 EI CAS 2001年第2期109-112,共4页
A novel numerical algorithm of fault location estimation for double line to ground fault involving different phases from each of two parallel lines is presented in this paper.It is based on the one terminal voltag... A novel numerical algorithm of fault location estimation for double line to ground fault involving different phases from each of two parallel lines is presented in this paper.It is based on the one terminal voltage and current data.The loop and nodal equations comparing faulted phase with non faulted phase of two parallel lines are introduced in the fault location estimation models,in which the source impedance of a remote end is not involved.The effects of load flow and fault resistance on the accuracy of fault location are effectively eliminated,therefore precise algorithms of locating fault are derived.The algorithm is demonstrated by digital computer simulations. 展开更多
关键词 fault location two parallel line line line fault
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Coupling analysis of transmission lines excited by space electromagnetic fields based on time domain hybrid method using parallel technique 被引量:1
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作者 Zhi-Hong Ye Xiao-Lin Wu Yao-Yao Li 《Chinese Physics B》 SCIE EI CAS CSCD 2020年第9期249-254,共6页
We present a time domain hybrid method to realize the fast coupling analysis of transmission lines excited by space electromagnetic fields, in which parallel finite-difference time-domain (FDTD) method, interpolation ... We present a time domain hybrid method to realize the fast coupling analysis of transmission lines excited by space electromagnetic fields, in which parallel finite-difference time-domain (FDTD) method, interpolation scheme, and Agrawal model-based transmission line (TL) equations are organically integrated together. Specifically, the Agrawal model is employed to establish the TL equations to describe the coupling effects of space electromagnetic fields on transmission lines. Then, the excitation fields functioning as distribution sources in TL equations are calculated by the parallel FDTD method through using the message passing interface (MPI) library scheme and interpolation scheme. Finally, the TL equations are discretized by the central difference scheme of FDTD and assigned to multiple processors to obtain the transient responses on the terminal loads of these lines. The significant feature of the presented method is embodied in its parallel and synchronous calculations of the space electromagnetic fields and transient responses on the lines. Numerical simulations of ambient wave acting on multi-conductor transmission lines (MTLs), which are located on the PEC ground and in the shielded cavity respectively, are implemented to verify the accuracy and efficiency of the presented method. 展开更多
关键词 Agrawal model transmission line equations parallel FDTD method message passing interface(MPI)library
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Accurate Fault Location Modeling for Parallel Transmission Lines Considering Mutual Effect 被引量:1
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作者 Hamdy A.Ziedan Hegazy Rezk Mujahed Al-Dhaifallah 《Computers, Materials & Continua》 SCIE EI 2021年第4期491-518,共28页
:A new accurate algorithms based on mathematical modeling of two parallel transmissions lines system(TPTLS)as influenced by the mutual effect to determine the fault location is discussed in this work.The distance rela... :A new accurate algorithms based on mathematical modeling of two parallel transmissions lines system(TPTLS)as influenced by the mutual effect to determine the fault location is discussed in this work.The distance relay measures the impedance to the fault location which is the positive-sequence.The principle of summation the positive-,negative-,and zero-sequence voltages which equal zero is used to determine the fault location on the TPTLS.Also,the impedance of the transmission line to the fault location is determined.These algorithms are applied to single-line-to-ground(SLG)and double-line-to-ground(DLG)faults.To detect the fault location along the transmission line,its impedance as seen by the distance relay is determined to indicate if the fault is within the relay’s reach area.TPTLS under study are fed from one-and both-ends.A schematic diagrams are obtained for the impedance relays to determine the fault location with high accuracy. 展开更多
关键词 New accurate algorithms mathematical modeling fault location scheme diagrams parallel transmission lines mutual effect SLG and DLG faults
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OPTIMIZATION OF TRANSIENT FEEDING TO PARALLEL-PLATE TRANSMISSION LINES FROM COAXIAL LINE 被引量:4
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作者 Tian Chunming Wang Jianguo Meng Fenxia Zhang Maoyu Ge Debiao(Department of Physics, Xidian University, Xi’an 710071) (Northwest Institute of Nuclear Technology, P. O. Box 69-15, Xi’an 710024) 《Journal of Electronics(China)》 2001年第3期281-284,共4页
The transient feeding to parallel-plate transmission lines from coaxial line is optimized by using the Finite-Difference Time-Domain (FDTD) method and a simple FDTD feed model. Observing the reflected voltages, this l... The transient feeding to parallel-plate transmission lines from coaxial line is optimized by using the Finite-Difference Time-Domain (FDTD) method and a simple FDTD feed model. Observing the reflected voltages, this letter presents the optimal feeding position and ratio of width to height for a given input impedance of the coaxial line. 展开更多
关键词 FDTD method parallel-plate TRANSMISSION lines
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Dual Band BPF Based on Parallel Coupled Lines Loaded by Open Stubs for Ku-Band Satellite Applications
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作者 Ahmed S. I. Amar Osama M. A. Dardeer Abdelhaleem A. Zekry 《Journal of Electromagnetic Analysis and Applications》 2019年第9期148-160,共13页
This paper presents a dual band Band Pass Filter (BPF) operating at both the downlink and uplink frequency bands for Ku-band satellite applications. The commonly used frequency band in mobile communications satellites... This paper presents a dual band Band Pass Filter (BPF) operating at both the downlink and uplink frequency bands for Ku-band satellite applications. The commonly used frequency band in mobile communications satellites is the Ku-band. These mobile satellite systems help connect remote regions, vehicles, ships, people and aircraft to other parts of the world and/or other mobile or stationary communications units, in addition to serving as navigation systems. The structure of the proposed filter is based on parallel coupled microstrip lines and four sections are used. Tuning the two operational bands can be achieved using two open-circuited stubs at the first and last sections of the parallel coupled microstrip lines. The proposed filter is adjusted to operate at 12.54 GHz and 14.14 GHz for downlink and uplink bands, respectively. The proposed dual band BPF is fabricated, measured, and good agreement is obtained between simulated and measured results. 展开更多
关键词 BPF SINGLE-BAND WIDE-BAND parallel Coupled lines Mobile Communications Satellite Transmitters
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Fault location for parallel transmission lines using one-terminal current traveling waves
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作者 徐青山 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2009年第3期408-412,共5页
With proper phase module transformation,parallel lines can be decomposed to the same directional net and the reverse directional net. The propagation characteristics of traveling waves in the reverse directional net w... With proper phase module transformation,parallel lines can be decomposed to the same directional net and the reverse directional net. The propagation characteristics of traveling waves in the reverse directional net were analyzed,and the refraction coefficient at the fault point for a single phase fault was derived. In addition,the module selection was discussed. Simulation results show that satisfying accuracy can be achieved with the proposed method. Moreover,it is immune to fault types,fault resistances,and outside system parameters. 展开更多
关键词 fault location parallel transmission lines traveling wave reverse directional net
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Online One-End Fault Location Algorithm for Parallel Transmission Lines
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作者 Wanjing Xiu Yuan Liao 《Smart Grid and Renewable Energy》 2011年第4期359-366,共8页
Fault location and distance protection are essential smart grid technologies ensuring reliability of the power system. This paper describes an accurate algorithm for locating faults on double-circuit transmission line... Fault location and distance protection are essential smart grid technologies ensuring reliability of the power system. This paper describes an accurate algorithm for locating faults on double-circuit transmission lines. The proposed approach is capable of identifying the faulted circuit of a parallel transmission line by checking the estimated fault location and fault resistance. Voltage and current measurements from only one of the terminals of the faulty line are used. No pre-fault data are required for the estimation. The lumped parameter line model considering shunt capacitance is utilized for the derivation of the algorithm. It’s assumed that line parameters are known and transmission lines are fully transposed. The method is applicable to all types of faults. It’s evinced by evaluation studies that the proposed algorithm can correctly determine the faulted circuit in most cases. For exceptional cases, the current waveforms during the fault can be used to help identify the faulted circuit. The proposed algorithm generates quite accurate fault location estimates, and may be suitable for distance relaying. 展开更多
关键词 DISTANCE Protection FAULT LOCATION parallel Transmission line
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One-End Data Method for Fault Position Estimate of Two-Parallel Transmission Lines
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作者 张庆超 刘飞 +1 位作者 武永峰 宋文南 《Journal of Beijing Institute of Technology》 EI CAS 2003年第1期105-108,共4页
An accurate numerical algorithm for three-line fault involving different phases from each of two-parallel lines is presented. It is based on one-terminal voltage and current data. The loop and nodel equations comparin... An accurate numerical algorithm for three-line fault involving different phases from each of two-parallel lines is presented. It is based on one-terminal voltage and current data. The loop and nodel equations comparing faulted phase to non-faulted phase of two-parallel lines are introduced in the fault location estimation modal, in which the faulted impedance of remote end is not involved. The effect of load flow and fault resistance on the accuracy of fault location are effectively eliminated, therefore an accurate algorithm of locating fault is derived. The algorithm is demonstrated by digital computer simulations and the results show that errors in locating fault are less than 1%. 展开更多
关键词 power system two-parallel lines fault location estimation one-terminal data
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Type Synthesis of 4-DOF Parallel Kinematic Mechanisms Based on Grassmann Line Geometry and Atlas Method 被引量:22
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作者 XIE Fugui LI Tiemin LIU Xinjun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2013年第6期1073-1081,共9页
Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms(PKMs), but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method fo... Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms(PKMs), but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom(DOFs) and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R(T: translational DOF; R: rotational DOF), are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs' type synthesis. Moreover, this method can provide theoretical guidance for other PKMs' type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods' problems in terms of complicated, not intuitive and unsuitable for practical application. 展开更多
关键词 type synthesis parallel kinematic mechanism Grassmann line geometry atlas method
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Identifying Counterexamples Without Variability in Software Product Line Model Checking 被引量:1
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作者 Ling Ding Hongyan Wan +1 位作者 Luokai Hu Yu Chen 《Computers, Materials & Continua》 SCIE EI 2023年第5期2655-2670,共16页
Product detection based on state abstraction technologies in the software product line(SPL)is more complex when compared to a single system.This variability constitutes a new complexity,and the counterexample may be v... Product detection based on state abstraction technologies in the software product line(SPL)is more complex when compared to a single system.This variability constitutes a new complexity,and the counterexample may be valid for some products but spurious for others.In this paper,we found that spurious products are primarily due to the failure states,which correspond to the spurious counterexamples.The violated products correspond to the real counterexamples.Hence,identifying counterexamples is a critical problem in detecting violated products.In our approach,we obtain the violated products through the genuine counterexamples,which have no failure state,to avoid the tedious computation of identifying spurious products dealt with by the existing algorithm.This can be executed in parallel to improve the efficiency further.Experimental results showthat our approach performswell,varying with the growth of the system scale.By analyzing counterexamples in the abstract model,we observed that spurious products occur in the failure state.The approach helps in identifying whether a counterexample is spurious or genuine.The approach also helps to check whether a failure state exists in the counterexample.The performance evaluation shows that the proposed approach helps significantly in improving the efficiency of abstraction-based SPL model checking. 展开更多
关键词 Software product line model checking parallel algorithm
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A fast and precise three-dimensional measurement system based on multiple parallel line lasers
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作者 Yao Wang Bin Lin 《Chinese Physics B》 SCIE EI CAS CSCD 2021年第2期276-284,共9页
This paper conducts a trade-off between efficiency and accuracy of three-dimensional(3 D)shape measurement based on the triangulation principle,and introduces a flying and precise 3 D shape measurement method based on... This paper conducts a trade-off between efficiency and accuracy of three-dimensional(3 D)shape measurement based on the triangulation principle,and introduces a flying and precise 3 D shape measurement method based on multiple parallel line lasers.Firstly,we establish the measurement model of the multiple parallel line lasers system,and introduce the concept that multiple base planes can help to deduce the unified formula of the measurement system and are used in simplifying the process of the calibration.Then,the constraint of the line spatial frequency,which maximizes the measurement efficiency while ensuring accuracy,is determined according to the height distribution of the object.Secondly,the simulation analyzing the variation of the systemic resolution quantitatively under the circumstance of a set of specific parameters is performed,which provides a fundamental thesis for option of the four system parameters.Thirdly,for the application of the precision measurement in the industrial field,additional profiles are acquired to improve the lateral resolution by applying a motor to scan the 3 D surface.Finally,compared with the line laser,the experimental study shows that the present method of obtaining 41220 points per frame improves the measurement efficiency.Furthermore,the accuracy and the process of the calibration are advanced in comparison with the existing multiple-line laser and the structured light makes an accuracy better than 0.22 mm at a distance of 956.02 mm. 展开更多
关键词 three-dimensional shape measurement multiple parallel line lasers fast and precise measurement parameter calibration
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Teaching method for reading views by analyzing lines and planes
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作者 张庆伟 《Journal of Chongqing University》 CAS 2006年第3期137-142,共6页
This paper deals with the teaching method in reading engineering drawing. It introduces the basic theory and fundamental ideas as well as the approach of reading views by analyzing lines and planes. It gives out the s... This paper deals with the teaching method in reading engineering drawing. It introduces the basic theory and fundamental ideas as well as the approach of reading views by analyzing lines and planes. It gives out the steps for completing the third view based on the other two views. As it is easy and quick for students to read and understand views by this method, it is welcome by students in teaching practice. 展开更多
关键词 projection rule reading view analyzing lines and planes: parallel PERPENDICULAR
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Study of Steady-state Performances for a Novel Line-start Single-phase Permanent Magnet Synchronous Motor With Three Parallel-connected Windings 被引量:2
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作者 PEI Ying WANG Xiuhe TANG Xu ZHAO Junwei 《中国电机工程学报》 EI CSCD 北大核心 2013年第9期I0012-I0012,共1页
对于三相感应电动机的单相运行,学者们已经提出了多种实用的接线方式,比如Smith接法、SEMIHEX接法。然而,对于三相异步起动永磁同步电动机的单相运行,很少有合适的接法提出。将并联式接法应用于三相异步起动永磁同步电动机的单相运行,... 对于三相感应电动机的单相运行,学者们已经提出了多种实用的接线方式,比如Smith接法、SEMIHEX接法。然而,对于三相异步起动永磁同步电动机的单相运行,很少有合适的接法提出。将并联式接法应用于三相异步起动永磁同步电动机的单相运行,提出了一种新型三绕组并联式异步起动单相永磁同步电动机。分析了三相异步起动永磁同步电动机同步运行时以及起动瞬间的正序、负序阻抗,基于对称分量法,对该接法电机的对称运行条件进行分析,得出了电容的确定方法,并利用遗传算法对电容值进行优化。提出了该新型电机稳态性能的计算方法;设计了一台高功率因数和一台低功率因数三相异步起动永磁同步电动机作为样机,并分别将其改接为三绕组高效单相永磁同步电动机,进行实验研究。实验结果表明,低功率因数的异步起动永磁同步电动机更适合改接成新型三绕组并联式单相永磁同步电动机。由低功率因数三相永磁同步电动机改接成的单相异步起动永磁同步电动机在额定负载下运行时,具有与同容量三相永磁同步电动机相近的效率和更高的功率因数。 展开更多
关键词 单相永磁同步电动机 并联连接 稳态性能 绕组 型线 永磁同步电机 对称操作 三相电机
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基于修正Loganathan公式的非水平布置双线平行盾构隧道施工引起土体位移计算方法
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作者 王超 邹金锋 +3 位作者 李方 刘波 饶兵兵 舒丹 《城市轨道交通研究》 北大核心 2024年第7期1-8,15,共9页
[目的]为研究双线平行盾构隧道非水平布置方式下,由施工引起的周围土体位移规律,提出一种基于修正Loganathan公式的土体位移计算方法。[方法]介绍了Loganathan公式及相关假设;考虑盾构隧道开挖扰动引起的地层损失、土体卸荷回弹和土体... [目的]为研究双线平行盾构隧道非水平布置方式下,由施工引起的周围土体位移规律,提出一种基于修正Loganathan公式的土体位移计算方法。[方法]介绍了Loganathan公式及相关假设;考虑盾构隧道开挖扰动引起的地层损失、土体卸荷回弹和土体损失率沿掘进路径变化的综合影响,修正Loganathan公式并建立单线盾构隧道周围土体位移解;建立双线平行盾构隧道非水平布置方式下,由施工引起的土体位移计算方法;通过实际工程的现场监测和数值模拟结果,验证所提计算方法的工程适用性。[结果及结论]所提计算方法能够考虑隧道轴心连线与水平面夹角、双线隧道半径、隧道轴心间距、双线隧道埋深等双线隧道布置因素,以及隧道盾构施工扰动造成的地层损失、土体卸荷回弹和土体损失率沿掘进路径变化等施工因素对土体位移的影响。地面沉降及土体水平位移的理论计算结果同现场监测结果和数值模拟结果之间的平均误差分别为5.6%、0.6%和5.5%、5.3%,均满足工程经验规定的20%的精度要求,说明所提计算方法能够有效解决双线平行盾构隧道非水平布置方式下施工引起的土体位移计算问题,具有良好的工程适用性。 展开更多
关键词 双线平行盾构隧道 修正Loganathan公式 非水平布置
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多线并行轨道电路电容耦合干扰机理研究
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作者 傅宗纯 李捷 《科技资讯》 2024年第12期60-62,共3页
高速铁路车站并行股道多,应用场景复杂,在三线并行情况下,中间股道易受两旁线路的电磁干扰影响。当2条线路均与中间股道同向时,中间股道所受电容耦合干扰为2条线路干扰之和,且邻线耦合电容越大,干扰亦越强。为减少多线并行邻线间的电容... 高速铁路车站并行股道多,应用场景复杂,在三线并行情况下,中间股道易受两旁线路的电磁干扰影响。当2条线路均与中间股道同向时,中间股道所受电容耦合干扰为2条线路干扰之和,且邻线耦合电容越大,干扰亦越强。为减少多线并行邻线间的电容耦合干扰,可采取改变线路相对布局、采用屏蔽等设计措施,确保高速铁路车站轨道电路工作的稳定性和可靠性。 展开更多
关键词 高速铁路 多线并行 轨道电路 邻线干扰 电容耦合
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“双线并行、五措并举”的高职学生党员培养路径创新研究
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作者 李洪淼 谢淑玲 张利 《辽宁农业职业技术学院学报》 2024年第2期69-72,共4页
学生党员培养是高校党建工作的重要内容之一,党员培养质量关系着党和国家事业的发展。分析了高职学生党员培养的必要性及存在问题,提出了打造高职院校党务工作专业化队伍、创新“线上+线下”并行和“必修+选修”并重的党员培养方式、创... 学生党员培养是高校党建工作的重要内容之一,党员培养质量关系着党和国家事业的发展。分析了高职学生党员培养的必要性及存在问题,提出了打造高职院校党务工作专业化队伍、创新“线上+线下”并行和“必修+选修”并重的党员培养方式、创新“精选+情感培养”的入党动机教育方法、建立“1+1+1”三段式党员长效培养机制和构建“4+15”党员考核评价体系“五措并举”的学生党员培养创新路径,旨在提升新媒体时代高职学生党员培养质量。 展开更多
关键词 高职院校 学生党员培养 双线并行 五措并举
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端接复杂电路传输线网络的电磁耦合时域并行计算方法
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作者 叶志红 张玉 鲁唱唱 《电子与信息学报》 EI CAS CSCD 北大核心 2024年第2期713-719,共7页
针对端接复杂电路传输线(TL)网络的电磁耦合问题,仍缺乏高效的场路协同仿真技术。该文将传输线方程与时域有限差分(FDTD)方法、诺顿定理和置换定理以及NGSPICE软件相结合,并引入消息传递接口(MPI)并行技术,提出一种高效的时域混合并行算... 针对端接复杂电路传输线(TL)网络的电磁耦合问题,仍缺乏高效的场路协同仿真技术。该文将传输线方程与时域有限差分(FDTD)方法、诺顿定理和置换定理以及NGSPICE软件相结合,并引入消息传递接口(MPI)并行技术,提出一种高效的时域混合并行算法(FDTDTL-NGSPICE)。首先,根据诺顿定理和置换定理,将传输线网络分解为传输线子系统和复杂电路子系统,并构建对应的等效电路模型。然后,使用FDTDTL并行算法计算传输线子系统沿线各点的电压和电流,并获取对应诺顿等效电路的电流源和等效导纳大小。最后,使用NGSPICE对复杂电路子系统进行传导干扰分析,获得复杂电路各元件上的瞬态响应,并将端口电压反馈给传输线子系统作为边界,实现传输线网络电磁耦合的场线路联合协同仿真。通过对3类典型场景的计算实例,分别使用时域混合并行算法和电磁仿真软件CST电缆工作室(CS)进行数值模拟并对比,验证所提算法的置信度。 展开更多
关键词 传输线网络 复杂电路 诺顿定理 时域有限差分与传输线方程的混合并行算法 NGSPICE软件
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750kV单回并行输电线路电磁辐射环境研究
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作者 任定高 《铀矿冶》 CAS 2024年第1期93-98,共6页
采用《环境影响评价技术导则输变电》(HJ 24—2020)附录C、D推荐的计算模式对750 kV单回并行输电线路电磁辐射环境进行计算与预测。结果表明,经过耕地、园地、牧草地、畜禽饲养地、道路等场所,当导线对地最小高度为15.5 m时,单回并行线... 采用《环境影响评价技术导则输变电》(HJ 24—2020)附录C、D推荐的计算模式对750 kV单回并行输电线路电磁辐射环境进行计算与预测。结果表明,经过耕地、园地、牧草地、畜禽饲养地、道路等场所,当导线对地最小高度为15.5 m时,单回并行线路下的工频电场强度最大值超过10 kV/m;需将导线对地最小高度提至16.5 m,才能满足4 kV/m控制限值要求。750 kV单回并行输电线路产生的工频磁场强度小于公众曝露控制限值(100μT),一般情况下不会成为线路建设的环境制约因素;但其产生的工频电场是电磁环境影响的主要因素,电场强度控制限值(4 kV/m)是线路建设的环境制约因素,同时也是输变电电磁环境重点控制因素。现场实测结果与理论预测结果符合性较好,表明采用的预测模式具有较好的应用性,研究结果可为750 kV单回并行输电线路的建设和环境监管提供支持。 展开更多
关键词 工频电场 工频磁场 电磁辐射环境 单回并行线路 输电线路
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大思政背景下高职英语“323”教学实施路径探究--以黄冈职业技术学院为例
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作者 陈华 《黄冈职业技术学院学报》 2024年第5期40-44,共5页
在大思政背景下,从高职英语融入思政元素的必要性出发,探究高职英语实施课程思政的基本思路,“323”教学路径的构建与实施以及实施中应注意的问题。研究认为教学实践应当注重线上线下相结合,实施课前、课中、课后“三阶递进”的教学过程... 在大思政背景下,从高职英语融入思政元素的必要性出发,探究高职英语实施课程思政的基本思路,“323”教学路径的构建与实施以及实施中应注意的问题。研究认为教学实践应当注重线上线下相结合,实施课前、课中、课后“三阶递进”的教学过程,坚持技能培养和文化培育“双元共育”的教学理念,结果表明英语“323”教学实施,可以实现知识传授、能力提升、价值塑造“三位一体”的育人目标。 展开更多
关键词 高职英语 三阶递进 双元共育 三位一体 学科核心素养
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平面并联机器人离线PID控制优化研究
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作者 刘一扬 王春燕 《机械设计与制造》 北大核心 2024年第5期156-160,共5页
为了使平面并联机器人在闭环控制系统中具有更稳定的控制性能。对此,这里构建了平面五杆并联机器人动力学模型及其控制系统模型,给出了控制系统的增益矢量p。对机器人系统模型进行离线PID控制优化,通过控制增益来设计控制系统中的增益矢... 为了使平面并联机器人在闭环控制系统中具有更稳定的控制性能。对此,这里构建了平面五杆并联机器人动力学模型及其控制系统模型,给出了控制系统的增益矢量p。对机器人系统模型进行离线PID控制优化,通过控制增益来设计控制系统中的增益矢量p,从而实现非线性单目标动态优化(NLMODOP)。在NLMODOP中加入动态约束,采用带约束处理机制的差分进化(DE)算法求解平面并联机器人的非线性规划问题,进而处理不稳定的动态优化。对机器人模型中的五个连杆进行仿真实验,并对有无DE算法控制的仿真结果进行了比较。结果表明:相比于无DE算法,采用DE算法下的机器人系统模型的连杆跟踪位移基本无跟踪误差。说明基于差分进化算法的平面并联机器人离线PID控制优化具有较好的控制精度和跟踪性能。 展开更多
关键词 平面五杆并联机器人 离线PID控制优化 非线性单目标动态优化 差分进化算法
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