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Optimization Method for Electrical Water Heaters Considering Shifting Potentials of Electricity Consumption and Water-use Activities
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作者 Yuqing Bao Zhonghui Zuo Xuehua Wu 《Journal of Modern Power Systems and Clean Energy》 SCIE EI CSCD 2024年第4期1250-1259,共10页
Electrical water heaters(EWHs)are important can-didates to provide demand-response services.The traditional op-timization method for EWHs focuses on the optimization of the electricity consumption,without considering ... Electrical water heaters(EWHs)are important can-didates to provide demand-response services.The traditional op-timization method for EWHs focuses on the optimization of the electricity consumption,without considering the shifting poten-tial of the water-use activities.This paper proposes an optimiza-tion method for EWHs considering the shifting potentials of both the electricity consumption and water-use activities.Con-sidering that the water-use activities could be monolithically shifted,the shifting model of the water-use activities was devel-oped.In addition to the thermodynamic model of the EWH,the optimal scheduling model of the EWH was developed and solved using mixed-integer linear programming.Case studies were performed on a single EWH and aggregate EWHs,demon-strating that the proposed method can shift the water-use activi-ties and therefore increase the load-shifting potential of the EWHs. 展开更多
关键词 Electrical water heater(EWH) demand response load-shifting water-use activity
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Optimal dispatching strategy for residential demand response considering load participation
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作者 Xiaoyu Zhou Xiaofeng Liu +2 位作者 Huai Liu Zhenya Ji Feng Li 《Global Energy Interconnection》 EI CSCD 2024年第1期38-47,共10页
To facilitate the coordinated and large-scale participation of residential flexible loads in demand response(DR),a load aggregator(LA)can integrate these loads for scheduling.In this study,a residential DR optimizatio... To facilitate the coordinated and large-scale participation of residential flexible loads in demand response(DR),a load aggregator(LA)can integrate these loads for scheduling.In this study,a residential DR optimization scheduling strategy was formulated considering the participation of flexible loads in DR.First,based on the operational characteristics of flexible loads such as electric vehicles,air conditioners,and dishwashers,their DR participation,the base to calculate the compensation price to users,was determined by considering these loads as virtual energy storage.It was quantified based on the state of virtual energy storage during each time slot.Second,flexible loads were clustered using the K-means algorithm,considering the typical operational and behavioral characteristics as the cluster centroid.Finally,the LA scheduling strategy was implemented by introducing a DR mechanism based on the directrix load.The simulation results demonstrate that the proposed DR approach can effectively reduce peak loads and fill valleys,thereby improving the load management performance. 展开更多
关键词 Residential demand response Flexible loads Load participation Load aggregator
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Dual-negative-objective Coordinated Control of Brushless Doubly Fed Induction Generator under Unbalanced Grid Voltage
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作者 Ming Cheng Zheng Cao Xiaoming Yan 《CES Transactions on Electrical Machines and Systems》 EI CSCD 2024年第3期347-355,共9页
This article proposes a dual-negative-objective coordinated control strategy for brushless doubly fed induction generator(BDFIG)based wind power generation system under unbalanced grid voltage.To alleviate the mechani... This article proposes a dual-negative-objective coordinated control strategy for brushless doubly fed induction generator(BDFIG)based wind power generation system under unbalanced grid voltage.To alleviate the mechanical stress and impaction on rotating shaft,the negative control objective(NCO)of machine side converter(MSC)is set to suppress the ripple of electromagnetic torque.While the NCO of grid side converter(GSC)is selected to suppress the oscillation of total output active power or the unbalanced degree of total output current for BDFIG generation system.In comparison with traditional single converter control scheme of the MSC or GSC,dual NCOs can be satisfied at the same time due to the enlarged freedom degree in the proposed improved coordinated control system for back-toback converters.The effectiveness of proposed control strategy is validated by simulation and experimental results on a dual-cagerotor BDFIG(DCR-BDFIG)prototype. 展开更多
关键词 Brushless doubly fed induction generator Dual-negative-objective Freedom degree Unbalanced grid voltage
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Modeling and simulation of quadrotor UAV based on Simscape 被引量:2
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作者 JI Jiang HAN Jia-ning MENG Li-fan 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2020年第2期169-176,共8页
In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics m... In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft,and used the Newton-Euler method to derive the non-linear dynamic equations.Aiming at improving the modeling accuracy and system integrity of the quadrotor,the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox.The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor.Based on this,the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning.The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system. 展开更多
关键词 quadrotor unmanned aerial vehicle(UAV) physical system modeling parameter tuning TRACKING
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Circuit Implementations,Bifurcations and Chaos of a Novel Fractional-Order Dynamical System 被引量:1
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作者 闵富红 邵书义 +1 位作者 黄雯迪 王恩荣 《Chinese Physics Letters》 SCIE CAS CSCD 2015年第3期21-25,共5页
Linear transfer function approximations of the fractional integrators 1Is~ with m ^- 0.80-0.99 with steps of 0.01 are calculated systemically from the fractional order calculus and frequency-domain approximation metho... Linear transfer function approximations of the fractional integrators 1Is~ with m ^- 0.80-0.99 with steps of 0.01 are calculated systemically from the fractional order calculus and frequency-domain approximation method. To illustrate the effectiveness for fractional functions, the magnitude Bode diagrams of the actual and approximate transfer functions 1Ism with a slope of -20m dB//decade are depicted. By using the transfer function approxima- tions of the fractional integrators, a new fractional-order nonlinear system is investigated through the bifurcation diagram and Lyapunov exponent. The corresponding circuit of the fractional-order system is designed and the experimental results match perfectly with the numerical simulations. 展开更多
关键词 In Circuit Implementations Bifurcations and Chaos of a Novel Fractional-Order Dynamical System
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3D-printed “fistula stent” designed for management of enterocutaneous fistula: An advanced strategy 被引量:16
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作者 Jin-Jian Huang Jian-An Ren +4 位作者 Ge-Fei Wang Zong-An Li Xiu-Wen Wu Hua-Jian Ren Song Liu 《World Journal of Gastroenterology》 SCIE CAS 2017年第41期7489-7494,共6页
Enterocutaneous fistulas(ECFs) are great challenges during the open abdomen. The loss of digestive juice, water-electrolyte imbalance and malnutrition are intractable issues during management of ECF. Techniques such a... Enterocutaneous fistulas(ECFs) are great challenges during the open abdomen. The loss of digestive juice, water-electrolyte imbalance and malnutrition are intractable issues during management of ECF. Techniques such as "fistula patch" and vacuumassisted closure therapy have been applied to prevent contamination of open abdominal wounds by intestinal fistula drainage. However, failures are encountered due to high-output fistula and anatomical complexity. Here, we report 3 D-printed patient-personalized fistula stent for ECF treatment based on 3 D reconstruction of the fistula image. Subsequent follow-up demonstrated that this stent was well-implanted and effective to reduce the volume of enteric fistula effluent. 展开更多
关键词 Enterocutaneous fistula 3D printing Open abdomen Isolation technique
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Application of a 3D-printed ”fistula stent” in plugging enteroatmospheric fistula with open abdomen: A case report 被引量:7
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作者 Zi-Yan Xu Hua-Jian Ren +2 位作者 Jin-Jian Huang Zong-An Li Jian-An Ren 《World Journal of Gastroenterology》 SCIE CAS 2019年第14期1775-1782,共8页
BACKGROUND Open abdomen(OA) has been generally accepted for its magnificent superiority and effectiveness in patients with severe trauma, severe intra-abdominal infection, and abdominal compartment syndrome. In the me... BACKGROUND Open abdomen(OA) has been generally accepted for its magnificent superiority and effectiveness in patients with severe trauma, severe intra-abdominal infection, and abdominal compartment syndrome. In the meantime, OA calls for a mass of nursing and the subsequent enteroatomospheric fistula(EAF), which is one of the most common complications of OA therapy, remains a thorny challenge.CASE SUMMARY Our team applied thermoplastic polyurethane as a befitting material for producing a 3 D-printed "fistula stent" in the management of an EAF patient,who was initially admitted to local hospital because of abdominal pain and distension and diagnosed with bowel obstruction. After a series of operations and OA therapy, the patient developed an EAF.CONCLUSION Application of this novel "fistula stent" resulted in a drastic reduction in the amount of lost enteric effluent and greatly accelerated rehabilitation processes. 展开更多
关键词 3D PRINTING Enteroatmospheric FISTULA Open ABDOMEN ISOLATION technique Case report
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High Precision Ultrasonic Guided Wave Technique for Inspection of Power Transmission Line 被引量:4
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作者 CHENG Jun QIU Jinhao +3 位作者 JI Hongli WANG Enrong TAKAGI Toshiyuki UCHIMOTO Tetsuya 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2017年第1期170-179,共10页
Due to the merits of high inspection speed and long detecting distance, Ultrasonic Guided Wave(UGW) method has been commonly applied to the on-line maintenance of power transmission line. However, the guided wave pr... Due to the merits of high inspection speed and long detecting distance, Ultrasonic Guided Wave(UGW) method has been commonly applied to the on-line maintenance of power transmission line. However, the guided wave propagation in this structure is very complicated, leading to the unfavorable defect localization accuracy. Aiming at this situation, a high precision UGW technique for inspection of local surface defect in power transmission line is proposed. The technique is realized by adopting a novel segmental piezoelectric ring transducer and transducer mounting scheme, combining with the comprehensive characterization of wave propagation and circumferential defect positioning with multiple piezoelectric elements. Firstly, the propagation path of guided waves in the multi-wires of transmission line under the proposed technique condition is investigated experimentally. Next, the wave velocities are calculated by dispersion curves and experiment test respectively, and from comparing of the two results, the guided wave mode propagated in transmission line is confirmed to be F(1,1) mode. Finally, the axial and circumferential positioning of local defective wires in transmission line are both achieved, by using multiple piezoelectric elements to surround the stands and send elastic waves into every single wire. The proposed research can play a role of guiding the development of highly effective UGW method and detecting system for multi-wire transmission line. 展开更多
关键词 ultrasonic guided wave inspection power transmission line piezoelectric transducer defect positioning wavelet transform
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Simulation of Fault Arc Using Conventional Arc Models 被引量:2
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作者 Ling Yuan Lin Sun Huaren Wu 《Energy and Power Engineering》 2013年第4期833-837,共5页
Conventional arc models are usually used to research the interaction between switching arc and circuit. It is important to simulate the fault arc for arc flash calculations, choice of electrical equipments and power s... Conventional arc models are usually used to research the interaction between switching arc and circuit. It is important to simulate the fault arc for arc flash calculations, choice of electrical equipments and power system protection. This paper investigates several conventional arc models for calculating the fault arcing current. Simulation results show that conventional arc models can be used to simulate the fault arc if the parameters of arc models are given properly. This paper provides the parameters of 5 popular arc models and describes the simulation results of the fault arc. 展开更多
关键词 ARC ARC FLASH ARC Model PLASMA POWER System
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Heterogeneous dual memristive circuit:Multistability,symmetry,and FPGA implementation 被引量:1
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作者 Yi-Zi Cheng Fu-Hong Min +1 位作者 Zhi Rui Lei Zhang 《Chinese Physics B》 SCIE EI CAS CSCD 2021年第12期237-247,共11页
An improved heterogeneous dual memristive circuit(DMC)is proposed based on Chua's circuit,which shows good symmetry and multistablility.For the difficulty in controlling the initial conditions,which restricts the ... An improved heterogeneous dual memristive circuit(DMC)is proposed based on Chua's circuit,which shows good symmetry and multistablility.For the difficulty in controlling the initial conditions,which restricts the engineering applications,the 3 rd-order model(3 OM)in flux-charge domain is derived from the 5 th-order model(5 OM)in volt-ampere domain by using the flux-charge analysis method(FCAM).The consistence of symmetry and multistability before and after dimensionality decreasing is meticulously investigated via bifurcation diagram,Lyapunov exponents,and especially attraction basins.The comparative analysis validates the effectiveness of reduction model and improves the controllability of the circuit.To avoid the noise in the analog circuit,a field-programmable gate array(FPGA)is utilized to realize the reduction model,which is rarely reported and valuable for relevant research and application. 展开更多
关键词 memristive circuit CHAOS MULTISTABILITY FPGA implementation
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Hysteresis-induced bifurcation and chaos in a magneto-rheological suspension system under external excitation 被引量:1
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作者 张海龙 王恩荣 +1 位作者 闵富红 张宁 《Chinese Physics B》 SCIE EI CAS CSCD 2016年第3期100-110,共11页
The magneto-rheological damper (MRD) is a promising device used in vehicle semi-active suspension systems, for its continuous adjustable damping output. However, the innate nonlinear hysteresis characteristic of MRD... The magneto-rheological damper (MRD) is a promising device used in vehicle semi-active suspension systems, for its continuous adjustable damping output. However, the innate nonlinear hysteresis characteristic of MRD may cause the nonlinear behaviors. In this work, a two-degree-of-freedom (2-DOF) MR suspension system was established first, by employing the modified Bouc-Wen force-velocity (F-v) hysteretic model. The nonlinear dynamic response of the system was investigated under the external excitation of single-frequency harmonic and bandwidth-limited stochastic road surface. The largest Lyapunov exponent (LLE) was used to detect the chaotic area of the frequency and amplitude of harmonic excitation, and the bifurcation diagrams, time histories, phase portraits, and power spectrum density (PSD) diagrams were used to reveal the dynamic evolution process in detail. Moreover, the LLE and Kolmogorov entropy (K entropy) were used to identify whether the system response was random or chaotic under stochastic road surface. The results demonstrated that the complex dynamical behaviors occur under different external excitation conditions. The oscillating mechanism of alternating periodic oscillations, quasi-periodic oscillations, and chaotic oscillations was observed in detail. The chaotic regions revealed that chaotic motions may appear in conditions of mid-low frequency and large amplitude, as well as small amplitude and all frequency. The obtained parameter regions where the chaotic motions may appear are useful for design of structural parameters of the vibration isolation, and the optimization of control strategy for MR suspension system. 展开更多
关键词 magneto-rheological damper HYSTERESIS Bouc-Wen model chaotic motions
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Research on V2G Control Strategy for EV Charge and Discharge Equipmen 被引量:1
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作者 Mai Zhang Caihong Zhao +2 位作者 Xiaobo Tang Li Liu Lijuan Tan 《Energy and Power Engineering》 2013年第4期1352-1356,共5页
In this paper, the fundamental structure of charge and discharge device of V2G is analyzed. As for three phase voltage source PWM converter’s control, this paper presents that the control strategy of direct power con... In this paper, the fundamental structure of charge and discharge device of V2G is analyzed. As for three phase voltage source PWM converter’s control, this paper presents that the control strategy of direct power control PWM rectifier is adopted under charging operation and constant power control strategy is used under discharging operation. For bidirectional DC/DC converter control strategy, dual closed-loop control of external voltage loop and internal current loop is put into use. The whole system of charge and discharge device of V2G is modeled and simulated by using the toolbox of PSCAD/EMTDC. Two-way power energy and information interaction of electric vehicle and power grid has been realized, current harmonic on grid side is decreased, power factor and power quality are improved. 展开更多
关键词 V2G PWM Direct POWER CONTROL CONSTANT POWER CONTROL DC/DC Converter
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Observer-based H_∞ Filtering of 2-D Singular System Described by Roesser Models
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作者 XU Hui-Ling LU Jun-Wei ZOU Yun 《自动化学报》 EI CSCD 北大核心 2006年第2期213-218,共6页
This paper discusses the problem of the H∞ filtering for discrete time 2-D singular Roesser models (2-D SRM). The purpose is to design an observer-based 2-D singular filter such that the error system is acceptable, j... This paper discusses the problem of the H∞ filtering for discrete time 2-D singular Roesser models (2-D SRM). The purpose is to design an observer-based 2-D singular filter such that the error system is acceptable, jump modes free and stable, and satisfies a pre-specified H∞ performance level. By general Riccati inequality and bilinear matrix inequalities (BMI), a sufficient condition for the solvability of the observer-based H∞ filtering problem for 2-D SRM is given. A numerical example is provided to demonstrate the applicability of the proposed approach. 展开更多
关键词 2-D奇异系统 跳跃模式 RICCATI不等式 双线性不等式
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Design of Distributed Temperature Measurement System for Switchgear
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作者 Qingsong Yang Jianfei Yang +1 位作者 Huaren Wu Long Liu 《Energy and Power Engineering》 2013年第4期958-961,共4页
This paper develops a novel distributed temperature measurement system based on DSP and DS18B20 digital thermometer. The real-time temperature of each node in the switchgear is obtained by several DS18B20s which are c... This paper develops a novel distributed temperature measurement system based on DSP and DS18B20 digital thermometer. The real-time temperature of each node in the switchgear is obtained by several DS18B20s which are connected on the 1-wire bus together. RS-485 master-slave communication protocol is used to centralize monitoring temperatures of several switchgear cabinets. The system also has the function of temperature alarm. The operation of simulation experiment has showed that the system is able to complete monitoring real-time temperatures in high voltage switchgear. 展开更多
关键词 High Voltage SWITCHGEAR DISTRIBUTED Temperature Measurement 1-WIRE BUS RS-485 MASTER-SLAVE Communication
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A Scheduling Strategy of Light Supplement in Agricultural Greenhouse Based on the Displacement of Light Source Group
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作者 Baichen Zeng Jie Lv Mengyue Li 《Journal of Applied Mathematics and Physics》 2020年第8期1646-1653,共8页
LED can effectively promote the growth of crops and improve the yield of crops. In order to make the crops grow evenly in the agricultural greenhouse, the uniformity of illumination is very important. Because of the i... LED can effectively promote the growth of crops and improve the yield of crops. In order to make the crops grow evenly in the agricultural greenhouse, the uniformity of illumination is very important. Because of the importance of illumination uniformity to the growth of crops, this paper intends to establish the illuminance model of light source without considering the influence factors such as the difference of each light source group and air scattering. On this basis, the reasonable layout of each light source position in the light source group is considered. Therefore, a light replenishment scheduling strategy based on the displacement of light source group is proposed in this paper Improve the uniformity of illumination in agricultural greenhouse and reduce its operation cost. Experiments show that the strategy is effective. 展开更多
关键词 Supplementary Light Illumination Uniformity Light Source Group Scheduling Strategy
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A Simulation Research on the Grid-Connected Control Technology of Single-Phase Inverters Based on MATLAB
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作者 Jinjie Chen 《Journal of Electronic Research and Application》 2022年第4期7-12,共6页
This paper primarily discusses the main circuit of single-phase inverter circuits.It begins by introducing the research context and the significance of the subject,then discusses the topology of grid-connected single-... This paper primarily discusses the main circuit of single-phase inverter circuits.It begins by introducing the research context and the significance of the subject,then discusses the topology of grid-connected single-phase inverter circuits,continues by discussing the control strategy for grid-connected single-phase inverter circuits,realizes a sinusoidal pulse width modulation(SPWM)signal generation circuit and an inverse control algorithm program,and finally ensures good output waveform and fast dynamic response.In view of the hysteresis feature of the grid voltage’s synchronous signal sampling circuit,the acquisition function in digital signal processing(DSP)control chips is applied,and the reasons for the hysteresis phenomenon are thoroughly investigated.The reliability of the SPWM control algorithm is revealed through the results. 展开更多
关键词 Solar energy Photovoltaic power generation Grid-connected inverter circuit MATLAB simulation
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Game-theoretic Applications for Decision-making Behavior on the Energy Demand Side:a Systematic Review 被引量:1
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作者 Zhenya Ji Xiaofeng Liu Difei Tang 《Protection and Control of Modern Power Systems》 SCIE EI 2024年第2期1-20,共20页
As an essential characteristic of the smart grid,energy demand users are being transformed from passive roles to active decision-makers.To analyze their decision-making behaviors,game theory has been widely applied on... As an essential characteristic of the smart grid,energy demand users are being transformed from passive roles to active decision-makers.To analyze their decision-making behaviors,game theory has been widely applied on the demand side.This paper focuses on the classification and in-depth analysis of recent studies that propose game-theoretic approaches for decision optimi-zation of multiple demand users.This analysis classifies scenarios into various game participant categories,in-cluding distributed energy prosumers,small-and mid-dle-sized users,and large energy consumers.The in-depth analysis of each scenario,covering non-cooperative game,cooperative game,Stackelberg game,Bayesian game,and evolutionary game,is conducted by analyzing market operation mechanisms,model assumptions/formulations,and solution methods.Based on a comprehensive review of such studies,it is concluded that game-theoretic appli-cations on the demand side can benefit both the grid and the users,e.g.,reductions in the peak-to-average ratios and energy costs of the users.The prospects for the ap-plications of game theory on the demand side are dis-cussed,including application scenarios and methodologies.The overview presented in this paper is expected to sup-port researchers in comprehending typical game-theoretic concepts,keeping with the latest research developments,and identifying new and innovative appli-cations for the energy demand side.Index Terms—Energy demand side,game theory,Game-theoretic application,demand response,deci-sion-making behavior. 展开更多
关键词 Energy demand side game theory Game-theoretic application demand response deci-sion-making behavior
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Adaptive sliding mode backstepping control for near space vehicles considering engine faults 被引量:5
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作者 ZHAO Jing JIANG Bin +2 位作者 XIE Fei GAO Zhifeng XU Yufei 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第2期343-351,共9页
A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backsteppin... A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backstepping with the sliding mode control strategy could guarantee the system’s stability and track desired signals under external disturbances and engine faults. Firstly, attitude mode description and the engine faulty model are given. Secondly, a nominal control law is designed.Thirdly, a sliding mode observer is given later in order to estimate both the information of engine faults and external disturbances. An adaptive sliding mode technology based on the previous nominal control law is developed via updating faulty parameters. Finally,analyze the system’s fault-tolerant performance and reliability through experiment simulation, which verifies the proposed design of fault-tolerant control can tolerate engine faults, as well as the strong robustness for external disturbance. 展开更多
关键词 fault tolerant control adaptive sliding mode(ASM) engine fault near space vehicle(NSV)
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Demand response for frequency control of multi-area power system 被引量:3
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作者 Yu-Qing BAO Yang LI +2 位作者 Beibei WANG Minqiang HU Peipei CHEN 《Journal of Modern Power Systems and Clean Energy》 SCIE EI 2017年第1期20-29,共10页
Over the last few years, lots of attentions have been given to the demand response(DR) for the frequency control. DR can be incorporated with traditional frequency control method and enhance the stability of the syste... Over the last few years, lots of attentions have been given to the demand response(DR) for the frequency control. DR can be incorporated with traditional frequency control method and enhance the stability of the system. In this paper, the frequency control strategy of DR for a multiarea power system is specially designed. In order to quickly stabilize the frequency of different areas, the tie-line power is adopted as the additional input signal of DR. To get the optimal parameters of the control system, the frequency control problem is formulated as a multi-objective optimization problem, and the parameters such as the integral gains of secondary frequency control, the frequency bias parameters, and coefficients of DR are optimized. Numerical results verify the effectiveness of the proposed method. 展开更多
关键词 Demand response Frequency control Multi-area Genetic algorithm
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Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor 被引量:1
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作者 ZHAO Jing WANG Peng +2 位作者 SUN Yanfei XU Fengyu XIE Fei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第2期219-230,共12页
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ... Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances. 展开更多
关键词 quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances
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