MPC-based Torque Distribution for Planar Motion of Four-wheel Independently Driven Electric Vehicles:Considering Motor Models and Iron Losses

The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.

Gradient Changing Morphology Research of Cross-linked Polyethylene Thick Insulation of 110 kV Power Cable

The thick insulation layer of 110 kV XLPE power cables will result in the gradient changing morphology with the radius due to crosslinking process and cooling of the XLPE insulation. In this paper, the morphology of cross-linked polyethylene (XLPE) insulation of 110 kV cable and the uniforming effect of the heating process on it are researched by the differential scanning calorimetry (DSC) and X-ray diffraction(WAXD). The middle layer morphology structures of insulation produced by normal technology are of better uniform, while the crystallinity of the inner and outer layer of the insulation is lower than that of the middle one. The melting enthalpy ΔH_m of materials displays the difference of the crystal morphologies sensitively. The difference of crystallizing morphology in different layers of the high-voltage power cable insulation can be improved by heating process. But the uniforming of morphology of the insulation by heating process requires sufficient temperature and time. The effect of the on-line stress-relaxation equipment used widely by cable works now should be doubted. The test results of WAXD reveal that thermal stress changes the interplanar distances in the crystal region. So the radical stress in the insulation is tensile mainly.

Application of Excitation Function to the Prediction of RI Level Caused by Corona Discharge

Radio interference （RI）, as an aftereffect of corona discharge, is an important research topic in the field of electromagnetic compatibility, where excitation function is applied broadly to the prediction of RI level. This paper presents the theory of excitation function method used in the RI level prediction. Then, some practical problems related to this method are discussed. The propagation procedure of corona current is solved by the phase-modal transformation, and the impedance matrix of multi transmission lines is calculated by a double logarithmic approximate model of Carson＇s Ground-Return impedance. At the same time, in order to calculate the RI level when total line corona is assumed, an analytical formula is deduced for integral operation. Based on the above solutions, an algorithm is presented and applied to the prediction of RI level of a practical overhead transmission line. Comparison of prediction and measurement results indicates that the algorithm proposed in this paper is effective and feasible.

Experimental Investigation on the Inf1uence of Axial Magnetic Field Distribution on Resisting the Constriction of a High-Current Vacuum Arc

Effect of the axial magnetic field （AMF） on resisting the constriction of a highcurrent vacuum arc is studied in this paper. Two typical AMF distributions were investigated, i.e., the traditional bell-shaped AMF, and the saddle-shaped AMF. Experiments were conducted in a detachable vacuum chamber with arms arc current in the range of 10 kA to 25 kA. The arc column was photographed by a high-speed digital camera with an exposure time of 2 microseconds. The constriction of the vacuum arc was compared by processing the images of the arc column under the two different field configurations and numerically determining the dimensions of the arc column near the electrodes. It was also confirmed that the AMF distribution had a significant influence on its effectiveness in resisting arc constriction. of the arc is more influential than that at the Furthermore, the AMF strength near the periphery centre of the electrodes in resisting arc constriction.

Analysis of the Carbon Nano-Structures Formation in Liquid Arcing

Graphite electrodes were used for the direct current （DC） arc discharge in water. And high-resolution transmission electron microscopy （HRTEM） was used to investigate the products. Based on the experimental phenomena and nano-structure products, arc plasma characteristics in water were analyzed theoretically. Two growth regions and relevant growth modes were proposed to interpret the formation mechanisms of nano-structures by arc discharge in water. Furthermore, liquid nitrogen and cross magnetic field was applied to change the arcing state respectively, and new carbon nano-structures were obtained. Their formation mechanisms were also analyzed correspondingly.

New Topologies of High Torque Density Machine Based on Magnetic Field Modulation Principle

With the increasing demand for high torque density in motors,more and more new topologies emerge.Furthermore,the magnetic field modulation principle is widely concerned and has evolved into an effective analysis method for studying the new motor topology.This paper introduces the principle of magnetic field modulation.And the research on high torque density in recent years is reviewed from the perspective of magnetic field modulation,including permanent magnet vernier machine(PMVM),flux reverse machine(FRM),flux switching machine(FSM),dual permanent magnet(DPM)machine,and DC biased machine.The principle of magnetic field modulation makes it possible to propose higher torque density topologies in the future.

Difference analysis of dissolved gas in natural ester insulating fluids under typical electrical and thermal faults: An experimental study

Natural ester insulating oil is widely used in transformers due to its good fire resistance and biodegradability.It is mainly composed of triglycerides,and there are some differ-ences in fatty acid composition and content among natural esters.Therefore,the fault diagnosis methods based on dissolved gas analysis are different.Three kinds of natural ester insulating oils are used to study the dissolved gas in oil under typical electrical and thermal faults of power transformers.Thermal faults from 200°C to 800°C and electrical faults with different discharge energies,which include partial discharge,breakdown discharge,and arc discharge,are simulated.The characteristic gases and their variation trends of natural esters under thermal and electrical faults are obtained through the experimental results.The gas generation characteristics of the three natural ester insu-lating oils under typical electrical and thermal faults are almost similar,but the relative percentages of characteristic gases have certain differences.Natural ester insulating oil with a higher unsaturation degree tends to produce more H2 and less C2H4.Finally,the fault diagnosis methods are used to determine the fault gas data,and the Duval pentagon is modified and improved according to the gas generation characteristics of natural esters.

Exponential flux-controlled memristor model and its floating emulator

As commercial memristors are still unavailable in the market, mathematic models and emulators which can imitate the features of the mernristor are meaningful for further research. In this paper, based on the analyses of characteristics of the q-φ curve, an exponential flux-controlled model, which has the quality that its memductance （memristance） will keep monotonically increasing or decreasing unless the voltage＇s polarity reverses （if not approach the boundaries）, is constructed. A new approach to designing the floating emulator of the memristor is also proposed. This floating structure can flexibly meet various demands for the current through the memristor （especially the demand for a larger current）. The simulations and experiments are presented to confirm the effectiveness of this model and its floating emulator.

Investigation of Vacuum Arc Voltage Characteristics Under Different Axial Magnetic Field Profiles

Characteristics of the arc voltage under different profiles of axial magnetic field were investigated experimentally in a detachable vacuum chamber with five pairs of specially designed electrodes generating both bell-shaped and saddle-shaped magnetic field profile. The arc column and cathode spot images were photographed by a high speed digital camera. The dependence of the arc voltage on arcing evolution is analyzed. It is indicated that the axial magnetic field profile could affect the arc behaviors significantly, and the arc voltage is closely related to the arc light intensity.

Research on Slot-pole Combination in High-power Direct-drive PM Vernier Generator for Fractional Frequency Transmission System

Offshore wind energy is an important part of clean energy,and the adoption of wind energy to generate electricity will contribute to the implementation of the carbon peaking and carbon neutrality goals.The combination of the fractional frequency transmission system(FFTS) and the direct-drive wind turbine generator will be beneficial to the development of the offshore wind power industry.The use of fractional frequency in FFTS is beneficial to the transmission of electrical energy,but it will also lead to an increase in the volume and weight of the generator,which is unfavorable for wind power generation.Improving the torque density of the generator can effectively reduce the volume of the generators.The vernier permanent magnet machine(VPM) operates on the magnetic flux modulation principle and has the merits of high torque density.In the field of electric machines,the vernier machine based on the principle of magnetic flux modulation has been proved its feasibility to reduce the volume and weight.However,in the field of low-speed direct-drive machines for high-power fractional frequency power generation,there are still few related researches.Therefore,this paper studies the application of magnetic flux modulation in fractional frequency and high-power direct-drive wind turbine generators,mainly analyzes the influence of different pole ratios and different pole pairs on the generator,and draws some conclusions to provide reference for the design of wind turbine generators.

Experimental Research of ZnO Surface Flashover Trigger Device of Pseudo-Spark Switch

Pseudo-spark switch（PSS） is one of the most widely used discharge switches for pulse power technology.It has many special characteristics such as reliability in a wide voltage range,small delay time,as well as small delay jitter.In this paper,the measuring method for the initial plasma of ZnO surface flashover triggering device of PSS is studied and the results of the measurement show that the electron emission charge is mainly influenced by trigger voltage,gas pressure and DC bias voltage.When the bias voltage increases from 2 kV to 6 kV with the gap distancc fixed at 3 mm,the electron emission charge changes from 2 μC to about 6μC.When the gap distance changes from 3 mm to 5 mm with the bias voltage fixed at 2 kV,the electron emission charge increases from 1.5 μC to 2.5μC.When the gap distance is 4 mm,the hold-off voltage of PSS is 45 kV at gas pressure of 2 Pa,the minimum operating voltage is less than 1 kV.So,the operating scope is from 2.22%to 99%of its self-breakdown voltage.The discharging delay time decreases from 450 ns to 150 ns when the trigger pulse voltage is 1 kV and the discharging voltage is changed from 1 kV to 12 kV.When the trigger pulse voltage is 6 kV,the discharging delay time is less than 100 ns and changes from 100 ns to 50 ns,and the delay jitters are less than30 ns.

Distribution of Cathode Spots in Vacuum Arc Under Nonuniform Axial Magnetic Fields

Recent results on the distribution of vacuum arc cathode spots （CSs） in nonuniform axial magnetic field （AMF） are presented. Based on previous studies, we deem that two contrary influences of AMF, inward effect and outward effect, are attributed to CSs distribution. With this notion, we have analyzed the controlling effectiveness of nonuniform AMF on CSs distribution. Experiments were conducted in a detachable vacuum chamber with iron-style AMF electrodes. Images of vacuum arc column and the distribution of CSs were photographed with a high-speed charge coupled device （CCD） camera. Experimental results agreed well with the theoretical analysis.

Flue Gas Monitoring System With Empirically-Trained Dictionary

The monitoring of flue gas of the thermal power plants is of great significance in energy conservation and environmental protection.Spectral technique has been widely used in the gas monitoring system for predicting the concentrations of specific gas components.This paper proposes flue gas monitoring system with empirically-trained dictionary(ETD)to deal with the complexity and biases brought by the uninformative spectral data.Firstly,ETD is extracted from the raw spectral data by an alternative optimization between the sparse coding stage and the dictionary update stage to minimize the error of sparse representation.D1,D2 and D3 are three types of ETD obtained by different methods.Then,the predictive model of component concentration is constructed on the ETD.In the experiments,two real flue gas spectral datasets are collected and the proposed method combined with the partial least squares,the background propagation neural network and the support vector machines are performed.Moreover,the optimal parameters are chosen according to the 10-fold root-mean-square error of cross validation.The experimental results demonstrate that the proposed method can be used for quantitative analysis effectively and ETD can be applied to the gas monitoring systems.