A mathematical approach was proposed to investigate the impact of high penetration of large-scale photovoltaic park(LPP) on small-signal stability of a power network and design of hybrid controller for these units.A s...A mathematical approach was proposed to investigate the impact of high penetration of large-scale photovoltaic park(LPP) on small-signal stability of a power network and design of hybrid controller for these units.A systematic procedure was performed to obtain the complete model of a multi-machine power network including LPP.For damping of oscillations focusing on inter-area oscillatory modes,a hybrid controller for LPP was proposed.The performance of the suggested controller was tested using a 16-machine 5-area network.The results indicate that the proposed hybrid controller for LPP provides sufficient damping to the low-frequency modes of power system for a wide range of operating conditions.The method presented in this work effectively indentifies the impact of increased PV penetration and its controller on dynamic performance of multi-machine power network containing LPP.Simulation results demonstrate that the model presented can be used in designing of essential controllers for LPP.展开更多
Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging ...Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed controller.Simulation results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.展开更多
文摘A mathematical approach was proposed to investigate the impact of high penetration of large-scale photovoltaic park(LPP) on small-signal stability of a power network and design of hybrid controller for these units.A systematic procedure was performed to obtain the complete model of a multi-machine power network including LPP.For damping of oscillations focusing on inter-area oscillatory modes,a hybrid controller for LPP was proposed.The performance of the suggested controller was tested using a 16-machine 5-area network.The results indicate that the proposed hybrid controller for LPP provides sufficient damping to the low-frequency modes of power system for a wide range of operating conditions.The method presented in this work effectively indentifies the impact of increased PV penetration and its controller on dynamic performance of multi-machine power network containing LPP.Simulation results demonstrate that the model presented can be used in designing of essential controllers for LPP.
文摘Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed controller.Simulation results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.
