随着以电力电子为接口方式的可再生能源在电力系统中的渗透率不断提高,传统同步发电机被逐步替代,电力系统惯量不断降低,其频率支撑和振荡抑制能力不断下降。为了解决上述问题,提出了一种基于柔性直流输电系统(voltage source converter...随着以电力电子为接口方式的可再生能源在电力系统中的渗透率不断提高,传统同步发电机被逐步替代,电力系统惯量不断降低,其频率支撑和振荡抑制能力不断下降。为了解决上述问题,提出了一种基于柔性直流输电系统(voltage source converter based high voltage DC,VSC-HVDC)的双边惯量和阻尼模拟控制(bilateral inertia and damping emulation control,BIDE)方案,可实现VSC-HVDC对其两端互联交流电网同时提供惯量响应和阻尼响应。首先,简要介绍了VSC-HVSC系统的建模、控制方案及其通信系统延时构成;其次,提出了基于VSC-HVDC系统的BIDE控制方案及其具体理论推导过程;然后,构建了VSC-HVDC系统的小信号模型并进行了稳定性分析;最后,在MATLAB/Simulink平台上搭建了背靠背VSC-HVDC互联的两节点电力系统模型,分别在负载投切和三相接地短路故障等工况下对所提BIDE方案进行验证和分析。结果表明,在所提BIDE控制方案之下,VSC-HVDC系统能同时向双边互联异步交流系统提供惯量和阻尼功率,可以有效提升系统频率稳定性和振荡抑制能力。展开更多
In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order ...In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.展开更多
文摘随着以电力电子为接口方式的可再生能源在电力系统中的渗透率不断提高,传统同步发电机被逐步替代,电力系统惯量不断降低,其频率支撑和振荡抑制能力不断下降。为了解决上述问题,提出了一种基于柔性直流输电系统(voltage source converter based high voltage DC,VSC-HVDC)的双边惯量和阻尼模拟控制(bilateral inertia and damping emulation control,BIDE)方案,可实现VSC-HVDC对其两端互联交流电网同时提供惯量响应和阻尼响应。首先,简要介绍了VSC-HVSC系统的建模、控制方案及其通信系统延时构成;其次,提出了基于VSC-HVDC系统的BIDE控制方案及其具体理论推导过程;然后,构建了VSC-HVDC系统的小信号模型并进行了稳定性分析;最后,在MATLAB/Simulink平台上搭建了背靠背VSC-HVDC互联的两节点电力系统模型,分别在负载投切和三相接地短路故障等工况下对所提BIDE方案进行验证和分析。结果表明,在所提BIDE控制方案之下,VSC-HVDC系统能同时向双边互联异步交流系统提供惯量和阻尼功率,可以有效提升系统频率稳定性和振荡抑制能力。
基金Projects(51975376,51505289)supported by the National Natural Science Foundation of ChinaProject(19ZR1435400)supported by the Natural Science Foundation of Shanghai,China。
文摘In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.
