Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
This paper studies the reactive power and voltage coordinated control scheme. According to the characteristics of Hunan power grid, the coordinated schemes about Hunan power grid with Central China Power Grid, as well...This paper studies the reactive power and voltage coordinated control scheme. According to the characteristics of Hunan power grid, the coordinated schemes about Hunan power grid with Central China Power Grid, as well as Changsha power grid are proposed. At the same time, this paper builds a two-way interactive and multiple dispatching reactive power and voltage coordinated control mode, and can be successfully applied in Hunan power grid. The operation results show that this control scheme fulfills the ability of large power grids in optimal allocating of resources, effectively integrates the reactive power resources of the entire grid, achieves the purpose of reducing power grid loss, improving voltage quality, reducing the operating numbers of the reactive power equipment.展开更多
The coordinating control system is popular used in power plant.This paper describes the advanced coordinating control by control methods and optimal operation,introduces their principals and features by using the exam...The coordinating control system is popular used in power plant.This paper describes the advanced coordinating control by control methods and optimal operation,introduces their principals and features by using the examples of power plant op- eration.It is wealthy for automation application in optimal power plant operation.展开更多
新一代低压直流供用电系统(low voltage direct current supply and utilization system,LVDCSUS)强调了可再生能源的消纳以及直流用户侧电能产–销–储–用之间的协调统一,为推动直流用户侧灵活参与电力系统运行提供了全新思路。开展LV...新一代低压直流供用电系统(low voltage direct current supply and utilization system,LVDCSUS)强调了可再生能源的消纳以及直流用户侧电能产–销–储–用之间的协调统一,为推动直流用户侧灵活参与电力系统运行提供了全新思路。开展LVDCSUS用户侧电能的使用与生产相结合的研究,可有效挖掘直流用户侧的多元化电能资源灵活供给能力,为此该文首先依据LVDCSUS系统能量平衡关系将系统划分为全直流运行、余电上网运行、交流支撑运行3种运行模式;进而给出各模式下满足直流母线电压稳定、储能荷电状态均衡、灵活性电力资源利用三方面整体要求的协调策略;最后建立了多运行模式切换规则,实现通过切换多种运行模式改变能量协调控制策略,使LVDCSUS在稳定运行状态下主动参与电力系统能量互动。仿真结果验证了LVDCSUS多运行模式控制策略的有效性和可靠性。展开更多
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
文摘This paper studies the reactive power and voltage coordinated control scheme. According to the characteristics of Hunan power grid, the coordinated schemes about Hunan power grid with Central China Power Grid, as well as Changsha power grid are proposed. At the same time, this paper builds a two-way interactive and multiple dispatching reactive power and voltage coordinated control mode, and can be successfully applied in Hunan power grid. The operation results show that this control scheme fulfills the ability of large power grids in optimal allocating of resources, effectively integrates the reactive power resources of the entire grid, achieves the purpose of reducing power grid loss, improving voltage quality, reducing the operating numbers of the reactive power equipment.
文摘The coordinating control system is popular used in power plant.This paper describes the advanced coordinating control by control methods and optimal operation,introduces their principals and features by using the examples of power plant op- eration.It is wealthy for automation application in optimal power plant operation.
文摘新一代低压直流供用电系统(low voltage direct current supply and utilization system,LVDCSUS)强调了可再生能源的消纳以及直流用户侧电能产–销–储–用之间的协调统一,为推动直流用户侧灵活参与电力系统运行提供了全新思路。开展LVDCSUS用户侧电能的使用与生产相结合的研究,可有效挖掘直流用户侧的多元化电能资源灵活供给能力,为此该文首先依据LVDCSUS系统能量平衡关系将系统划分为全直流运行、余电上网运行、交流支撑运行3种运行模式;进而给出各模式下满足直流母线电压稳定、储能荷电状态均衡、灵活性电力资源利用三方面整体要求的协调策略;最后建立了多运行模式切换规则,实现通过切换多种运行模式改变能量协调控制策略,使LVDCSUS在稳定运行状态下主动参与电力系统能量互动。仿真结果验证了LVDCSUS多运行模式控制策略的有效性和可靠性。
