为了解决常规直流不能单独送风电的问题,分析了风电场孤岛直流外送系统的不稳定性机理,指出风电场不能与高压直流系统配合的原因在于"缺少不平衡功率自动消除机制",基于此提出一种解决方法,即在送端交流母线处附加VSC装置及...为了解决常规直流不能单独送风电的问题,分析了风电场孤岛直流外送系统的不稳定性机理,指出风电场不能与高压直流系统配合的原因在于"缺少不平衡功率自动消除机制",基于此提出一种解决方法,即在送端交流母线处附加VSC装置及其稳定控制策略,使送端电源整体接近电压源外特性并具备不平衡功率消除机制。一方面,VSC为DFIG提供了三相电压旋转矢量,保证DFIG的正常运行;另一方面,反馈VSC电容电压,根据电容电压的变化来反映直流送端系统频率变化,通过频率变化调节直流输送功率从而消除直流送端系统不平衡功率,实现了系统稳定运行的目标。基于所提出方法进行了实时数字仿真器(real time digital simulator,RTDS)的闭环验证,实验结果表明,此方法建立的不平衡功率消除机制,是解决风电场与传统直流单独配合问题的可行方法,且所需VSC装置容量仅为直流传输容量的1%左右。展开更多
A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer ...A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.展开更多
A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are use...A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.展开更多
An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter （SHAPF） to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis a...An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter （SHAPF） to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy.展开更多
文摘为了解决常规直流不能单独送风电的问题,分析了风电场孤岛直流外送系统的不稳定性机理,指出风电场不能与高压直流系统配合的原因在于"缺少不平衡功率自动消除机制",基于此提出一种解决方法,即在送端交流母线处附加VSC装置及其稳定控制策略,使送端电源整体接近电压源外特性并具备不平衡功率消除机制。一方面,VSC为DFIG提供了三相电压旋转矢量,保证DFIG的正常运行;另一方面,反馈VSC电容电压,根据电容电压的变化来反映直流送端系统频率变化,通过频率变化调节直流输送功率从而消除直流送端系统不平衡功率,实现了系统稳定运行的目标。基于所提出方法进行了实时数字仿真器(real time digital simulator,RTDS)的闭环验证,实验结果表明,此方法建立的不平衡功率消除机制,是解决风电场与传统直流单独配合问题的可行方法,且所需VSC装置容量仅为直流传输容量的1%左右。
基金Projects(61004008,51509055)supported by the National Natural Science Foundation of ChinaProject(61422230302162223013)supported by the Laboratory of Science and Technology on Water Jet Propulsion,China
文摘A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.
基金Project(2009AA043803) supported by the National High Technology Research and Development Program of China Project (SKLRS200901B) supported by Self-Planned Task of State Key Laboratory of Robotics and System (Harbin Institute of Technology),ChinaProject (NCET-09-0056) supported by Program for New Century Excellent Talents in Universities of China
文摘A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.
基金Project(61174068)supported by the National Natural Science Foundation of China
文摘An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter （SHAPF） to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy.
