Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm

This article introduces a singleton type-1 fuzzy logic system(T1-SFLS) controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO(Wind Driven Optimization) algorithm is used to optimize and tune the input/output membership function parameters of the fuzzy controller. The WDO algorithm is working based on the atmospheric motion of infinitesimal small air parcels navigates over an N-dimensional search domain. The performance of this proposed technique has compared through many computer simulations and real-time experiments by using Khepera-Ⅲ mobile robot. As compared to the T1-SFLS controller the Fuzzy-WDO algorithm is found good agreement for mobile robot navigation.

Wind Driven Butterfly Optimization Algorithm with Hybrid Mechanism Avoiding Natural Enemies for Global Optimization and PID Controller Design

This paper presents a Butterfly Optimization Algorithm(BOA)with a wind-driven mechanism for avoiding natural enemies known as WDBOA.To further balance the basic BOA algorithm's exploration and exploitation capabilities,the butterfly actions were divided into downwind and upwind states.The algorithm of exploration ability was improved with the wind,while the algorithm of exploitation ability was improved against the wind.Also,a mechanism of avoiding natural enemies based on Lévy flight was introduced for the purpose of enhancing its global searching ability.Aiming at improving the explorative performance at the initial stages and later stages,the fragrance generation method was modified.To evaluate the effectiveness of the suggested algorithm,a comparative study was done with six classical metaheuristic algorithms and three BOA variant optimization techniques on 18 benchmark functions.Further,the performance of the suggested technique in addressing some complicated problems in various dimensions was evaluated using CEC 2017 and CEC 2020.Finally,the WDBOA algorithm is used proportional-integral-derivative(PID)controller parameter optimization.Experimental results demonstrate that the WDBOA based PID controller has better control performance in comparison with other PID controllers tuned by the Genetic Algorithm(GA),Flower Pollination Algorithm(FPA),Cuckoo Search(CS)and BOA.

Three-D numerical simulation of wind-driven current and density current in the Beibu Gulf

The Casulli's difference scheme was introduced into the three-dimensional ocean model in the present paper, and the wind-driven current and thermohaline current were simulated. The results show that, southwesterly monsoon in summer induces a clockwise circulation in the Beibu Gulf, and the density gradient induces a counter-clockwise one; but the density current is more intense than the wind- driven one in summer, espeially in surface layer. In addition, the northeasterly monsoon in winter in- duces a counter-clockwise circulation. The simulated results don't support the traditional condusion that there is a clockwise circulation in the Beibu Gulf in summer and a counter-clockwise one in winter, but support the statement that a counterclockwise circulation exists in the Beibu Gulf all year round.

NUMERICAL MODELLING OF THREE-DIMENSION CHARACTERISTICS OF WIND-DRIVEN CURRENT IN THE BOHAI SEA

Three- dimension (3-D) wind-driven currents in the Bohai Sea in both winter and summer are calculated by using a 3- D barotropic steady model, and the results are consistent with observed flow char -acteristics. Based on the results, 3- D characteristics of flow, currents at different depths, compensated flow in the lower layer , long and narrow alongshore current, the area of upwelling and downwelling, main circulation in vertical profile, and the current in Bohai Strait are discussed.

Numerical simulation of wind-driven circulation and pollutant transport in Taihu Lake based on a quadtree grid

In this study,a two-dimensional flow-pollutant coupled model was developed based on a quadtree grid.This model was established to allow the accurate simulation of wind-driven flow in a large-scale shallow lake with irregular natural boundaries when focusing on important smallscale localized flow features.The quadtree grid was created by domain decomposition.The governing equations were solved using the finite volume method,and the normal fluxes of mass,momentum,and pollutants across the interface between cells were computed by means of a Godunov-type Osher scheme.The model was employed to simulate wind-driven flow in a circular basin with non-uniform depth.The computed values were in agreement with analytical data.The results indicate that the quadtree grid has fine local resolution and high efficiency,and is convenient for local refinement.It is clear that the quadtree grid model is effective when applied to complex flow domains.Finally,the model was used to calculate the flow field and concentration field of Taihu Lake,demonstrating its ability to predict the flow and concentration fields in an actual water area with complex geometry.

The effects of wind-driven waves and ocean spray on the drag coefficient and near-surface wind profiles over the ocean

By introducing a wave-induced component and a spray-induced component to the total stress, a mathematical model based on the Ekman theory is proposed to detail the influence of wind-driven waves and ocean spray on the momentum transport in a marine atmosphere boundary layer（MABL）. An analytic solution of the modified Ekman model can be obtained. The effect of the wave-induced stress is evaluated by a wind wave spectrum and a wave growth rate. It is found that the wave-induced stress and spray stress have a small impact compared with the turbulent stress on the drag coefficient and the wind profiles for low-to-medium wind speed. The spray contribution to the surface stress should be much more taken into account than the winddriven waves when the wind speed reaches above 25 m/s through the action of a ＂spray stress＂. As a result, the drag coefficient starts to decrease with increasing wind speed for high wind speed. The effects of the winddriven waves and spray droplets on the near-surface wind profiles are illustrated for different wave ages, which indicates that the production of the spray droplets leads the wind velocity to increase in the MABL. The solutions are also compared with the existed field observational data. Illustrative examples and the comparisons between field observations and the theoretical solutions demonstrate that the spray stress has more significant effect on the marine atmosphere boundary layer in the condition of the high wind speed compared with wave-induced stress.

Wind-Driven Ocean Circulation in Shallow Water Lattice Boltzmann Model

A lattice Boltzmann (LB) model with overall second-order accuracy is applied to the 1.5-layer shallow water equation for a wind-driven double-gyre ocean circulation. By introducing the second-order integral approximation for the collision operator, the model becomes fully explicit. In this case, any iterative technique is not needed. The Coriolis force and other external forces are included in the model with second-order accuracy, which is consistent with the discretized accuracy of the LB equation. The numerical results show correct physics of the ocean circulation driven by the double-gyre wind stress with different Reynolds numbers and different spatial resolutions. An intrinsic low-frequency variability of the shallow water model is also found. The wind-driven ocean circulation exhibits subannual and interannual oscillations, which are comparable to those of models in which the conventional numerical methods are used.

Winds and buoyancy-driven circulation in the Tampa Bay

The present study is concentrated on the empirical studies on the circulation in the Tampa Bay by analyzing velocity data at the Skyway Bridge Station in the Tampa Bay. Analyses focus on three factors responsible for the circulation: tides, winds and buoyancy gradients. The analysis of the current data obtained at the Skyway Bridge Station shows these three components of the circulation: the tidal currents are nearly uniform with depth; a vigorous and persistent buoyancy-driven mean now is directed into the bay at this location with speed of about 6 -- 8 cm/s; and synoptic scale wind fluctuations result in similarly large current fluctuations with winds blowing into the bay causing currents to flow out of the bay, and the versa.

DYNAMIC MODEL FOR OIL SLICK DISPERSION INTO A WATER COLUMN- A WINDDRIVEN WAVETANK EXPERIMENT

A dynamic experiment for oil dispersion into a water column was performed with a 21 m long, 0.5 m wide, and 1 m high wind-driven wave tank. At wind velocity between 6-12 m/s and with the oil slide kept constant (about 1 um), the rate of the oil content increase in the water column could be approximated from the difference between the dispersion rate (R) of the oil slick and the coagulation rate (R’) of the dispersed oil slick. Assuming the coagulation rate is directly proportional to the concentration of the water dispersed oil slick (i. e. R’ =KC),, the integral form of the dynamic model can be expressed as C=R*[1-exp(-K*t)]/K and parameters R and K can be regressed with a computer. The relative deviation of model results from the experimental data was mainly less than 10%. The oil slick dispersion rate (R) had exponential relationship with the wind velocity (V), and can be fitted with a formula R=A*(U+1)B.The fitted constant of the coagulation rate, K(0.8-3.0* 10-3 min-1) did not have significant

Experimental Analysis of A Cooling System for Wind-Driven Generator Stator

A novel cooling system with cooling channels is proposed for the stator of 3MW wind-driven generator.An experimental platform is built to investigate the performance of the cooling system with different loads.At30%,50% or 80% generator loads,the temperatures meet the design requirement.However,it is a little over the requirement at 100%load,duo to experimental errors and some unknown thermal resistances.In the test at 100%load,the developing trends of the parameters of these two generators are similar and only minor differences occurs when they reach steady state our work can be benefit for the design and improvement of MW wind-driven generator cooling solutions.

Wind-Driven Slanting Profile Wave Derived from the Unified Variational Principle of Water Gravity Wave

Considering that at present the regular waves in common use have the profile symmetrized to a vertical axis, which are different from actual wind-driven sea waves, and based on deriving linear wave, solitary wave, fifth order Stokes wave and stream function wave by using Unified Variational Principle of Water Gravity Wave (UVPWGW), this paper derives wind-driven slanting profile wave by using UVPWGW. Its feature is that under the action of wind pressure, the wave profile is not symmetrized to a vertical axis, but that it is in the forward slanting form.

Wind-Driven,Double-Gyre,Ocean Circulation in a Reduced-Gravity,2.5-Layer,Lattice Boltzmann Model

A coupled lattice Boltzmann （LB） model with second-order accuracy is applied to the reduced-gravity, shallow water, 2.5-layer model for wind-driven double-gyre ocean circulation. By introducing the secondorder integral approximation for the collision operator, the model becomes fully explicit. The Coriolis force and other external forces are included in the model with second-order accuracy, which is consistent with the discretization accuracy of the LB equation. The feature of the multiple equilibria solutions is found in the numerical experiments under different Reynolds numbers based on this LB scheme. With the Reynolds number increasing from 3000 to 4000, the solution of this model is destabilized from the anti-symmetric double-gyre solution to the subtropic gyre solution and then to the subpolar gyre solution. The transitions between these equilibria states are also found in some parameter ranges. The time-dependent variability of the circulation based on this LB simulation is also discussed for varying viscosity regimes. The flow of this model exhibits oscillations with different timescales varying from subannual to interannual. The corresponding statistical oscillation modes are obtained by spectral analysis. By analyzing the spatiotemporal structures of these modes, it is found that the subannual oscillation with a 9-month period originates from the barotropic Rossby basin mode, and the interarmual oscillations with periods ranging from 1.5 years to 4.6 years originate from the recirculation gyre modes, which include the barotropic and the baroclinic recirculation gyre modes.

A modification to the Munk wind-driven ocean circulation theory

In order to fulfill the no-slip condition at the western and eastern boundaries of the ocean basin, introduced ＂effective wind stress＂, which has much larger spatial variations towards the boundaries than in the ocean interior. The effective wind stress can thus be decomposed into spatially slow-varying and fast varying components. Careful scale analysis on the classical Munk winddriven ocean circulation theory, which consists of the interior Sverdrup flow and the western boundary current but of no eastern boundary current, shows that the wind stress curl appearing in the Sverdrup equation must have negligible spatial variations. In the present model the spatially slow-varying component of the wind stress appears in the Sverdrup equation, and the spatially fastvarying component becomes the forcing term of the boundary equations. As a result, in addition to the classical Munk solution the present model has an extra term at the western boundary which （Northern Hemisphere） increases the northward transport as well as the southward return transport, and has a term at the eastern boundary corresponding to the eastern boundary current.

Direct driven wind energy conversion system based on hybrid excitation synchronous machine

A novel direct-drive type wind power generation system based on hybrid excitation synchronous machine（HESM）is introduced in this paper.The generator is connected to an uncontrollable rectifier,and a fully controlled voltage-sourceinverter is used to connect the system to utility grid.An intermediate DC bus exists between the rectifier and inverter.A new control strategy is proposed which achieves the maximum power point tracking（MPPT） with the control of excitation current of HESM and stabilizes the DC link voltage with the control of inverter output current simultaneously.Specially-designed buck circuit is used to control the excitation current of HESM,and grid voltage-oriented vector control strategy is employed to realize the decoupling of the inverter output power.Simulation results and experiment in 3 kW lab prototype show an excellent static and dynamic performance of the proposed system.

建筑屋面风雨场及突出建筑立面风驱雨的实测研究

文章对某多层建筑屋面区域风驱雨(wind-driven rain,WDR)开展实测,结合3类典型降雨事件的分析,揭示大气湍流特征以及风速、风向对雨滴的影响特性,并针对突出屋面建筑,实测分析立面WDR分布特性,量化国际标准化组织(International Organization for Standardization,ISO)半经验模型对突出屋面建筑WDR预测的偏差。结果表明,在3类降雨事件中,湍流度、阵风因子和湍流积分尺度的实测值与基于地面实测建立的公式理论值之间存在较大差异;实测的雨滴数量与标准M-P谱计算的雨滴数量差值最大为125个。在风速和雨强差异较小时,建筑立面WDR分布受来流与立面夹角的影响显著。由于ISO半经验模型是基于地面实测建立的,其对突出屋面建筑WDR的预测存在偏差,在模型适用的降雨条件下实测值约为ISO预测值的2倍。

混合策略改进的风驱动优化算法

为解决风驱动优化算法存在的易陷入局部极值及收敛性差等问题,提出一种混合策略改进的风驱动优化算法。首先,使用Tent混沌映射初始化种群,增加初始个体的多样性;其次,引入柯西变异策略,扩大算法搜索范围,增强算法搜索能力并加速算法收敛;然后,利用反向学习策略生成新的全局最优解,提高算法逃离局部极值能力;最后,针对6个基准测试函数进行仿真实验,结果表明,所提算法收敛速度和精度均优于其他算法。

结合风速预测的直驱风电机组减载调频策略

直驱永磁风电机组常用的减载调频控制策略缺乏对风电机组运行经济性和调频能力的考虑,易导致系统出现调频能力不足或备用功率冗余的问题,对此提出了一种基于变减载率的优化减载调频策略。首先划分不同的风速模式,确立不同模式下的超速与变桨距协调控制方案;其次考虑系统调频能力和发电量两因素,设计函数求取不同工况下的最优减载率;由于风速波动频繁,风机控制具有延迟,因此利用风速预测和滑动窗口法对最优减载率做进一步调整;最后搭建系统仿真模型,通过改进的频率控制动态调整减载率参与系统调频。仿真实验表明,所提控制策略与常用的策略相比在实时风速、负荷扰动下系统频率动态偏差减小、达到最低值的时间延长,风机发电量增加,桨距角变化量减小。该策略能满足调频需求,提升调频质量,减小机械磨损,提高风机运行的经济性。

基于数据-模型融合驱动的新能源场站宽频阻抗在线辨识及稳定性评估

风电、光伏等新能源在电网中的渗透率不断提高,导致一系列宽频振荡问题。阻抗法是研究新能源并网系统宽频振荡稳定性的有效方法之一,然而由于商业化新能源机组的“黑/灰箱”问题、新能源场站运行状态的随机不确定性等因素,导致新能源场站的精确阻抗/导纳建模困难。为此,提出基于数据-模型融合驱动的新能源场站宽频阻抗/导纳在线辨识方法,针对输入随机不确定的新能源机组,采用数据驱动方法建立其覆盖整个稳态运行工况的宽频阻抗/导纳辨识模型,然后结合新能源场站的物理结构模型,构建数据-模型融合驱动的新能源场站宽频阻抗/导纳在线辨识模型。最后,以风电并网系统为例,利用建立的导纳辨识模型对风电并网系统的宽频振荡稳定性进行在线评估,并通过时域仿真验证稳定性在线分析的正确性。

基于人工智能算法的风电机组状态监测和故障诊断技术研究综述

随着我国风电产业高速发展,风电机组服役时间延长,故障率和运维成本随之增加。利用人工智能算法对风电大数据进行数据挖掘,实现风电机组的状态监测与故障诊断,对风电产业提质增效具有重要的现实意义,近年来逐渐成为研究热点。文中介绍了风电机组数据采集与监控(Supervisory Control and Data Acquisition, SCADA)系统和振动信号数据的特性,阐述了风电机组状态监测和故障诊断智能算法的框架,归纳总结了相关研究成果,并对风电机组状态监测和故障诊断技术所面临的挑战和发展趋势进行了展望。

虚拟同步直驱风机低频振荡机理分析及阻尼补偿控制

虚拟同步机技术可有效提升电网的电压支撑能力,但也引入了复杂的低频振荡问题。目前,对传统虚拟同步机的低频振荡研究大多忽略直流侧及机侧动态,难以准确刻画虚拟同步直驱风机的低频振荡特性。为解决上述问题,首先,建立了计及机侧动态和直流电压动态的统一阻尼转矩模型,利用阻尼转矩法揭示了机侧转子动态产生的负阻尼转矩是导致风机低频振荡的主要原因,并分析了各环节对风机低频振荡特性的影响规律。进一步,提出了阻尼补偿控制以削弱机侧动态的负阻尼效应,有效提升了机侧耦合下风机并网系统的稳定性。最后,简要分析了所提控制在多机系统的适用性,并基于MATLAB/Simulink仿真验证了理论分析的准确性和所提控制的有效性。