Linguistic dynamic systems (LDS) are dynamic systems whose state variables are generalized from numbers to words. Generally speaking, LDS can model all evolving processes in word domains by using linguistic evolving l...Linguistic dynamic systems (LDS) are dynamic systems whose state variables are generalized from numbers to words. Generally speaking, LDS can model all evolving processes in word domains by using linguistic evolving laws which are naturally the linguistic extension of evolving laws in numbers. There are two kinds of LDS; namely, type-I and type-II LDS. If the word domain is modeled by fuzzy sets, then the evolving laws of a type-I LDS are constructed by applying the fuzzy extension principle to those of its conventional counterpart. On the other hand, the evolving laws of a type-II LDS are modeled by fuzzy if/then rules. Note that the state spaces of both type-I and type-II LDSs are word continuum. However, in practice, the representation of the state space of a type-II LDS consists of finite number while its computation actually involves a word continuum. In this paper, the existence of fixed points of type-II LDS is studied based on point-to-fuzzy-set mappings. The properties of the fixed point of type-II LDS are also studied. In addition, linguistic controllers are designed to control type-II LDS to goal states specified in words.展开更多
It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace an...It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.展开更多
在光储孤岛直流微电网中,需要最大化利用光伏发电,通常对光伏系统采用最大功率点跟踪(maximum power point tracking, MPPT)技术。但传统的MPPT控制速度慢、精度低,特别是在局部阴影情形下极易陷入局部最优解。基于此,首先提出一种将布...在光储孤岛直流微电网中,需要最大化利用光伏发电,通常对光伏系统采用最大功率点跟踪(maximum power point tracking, MPPT)技术。但传统的MPPT控制速度慢、精度低,特别是在局部阴影情形下极易陷入局部最优解。基于此,首先提出一种将布谷鸟搜索算法与电导增量法相结合的混合MPPT控制。利用布谷鸟搜索算法快速全局寻优,再使用电导增量法精确定位,实现快速而准确地跟踪最大功率点。储能单元是光储直流微电网的重要组成部分,其输出电流均分、荷电状态(stateof charge, SoC)均衡和直流母线电压稳定是主要控制目标。但电流均分受线路电阻差异的影响,进而影响SoC均衡和直流母线电压稳定,于是设计一种新的电压电流双环控制策略以实现上述目标。该策略在电压外环采用母线电压作为反馈值,在电流内环中设计了基于一致性算法的控制策略,将SoC与指数函数结合并引入加速因子,使得在充放电过程中实现SoC的快速均衡。所提控制策略既不需要下垂控制,也无需二次补偿控制,减轻了通信负担。最后在Matlab/Simulink中搭建直流微电网系统模型,验证所设计新的混合MPPT控制和电压电流双环控制策略的有效性。展开更多
为解决孤岛模式下交直流混合微电网稳定运行的问题,文中提出一种孤岛交直流混合微电网柔性多状态开关(soft normally open point, SNOP)统一下垂控制策略。该策略基于系统功率平衡关系,通过归一化方法将2条馈线的频率下垂特性和直流电...为解决孤岛模式下交直流混合微电网稳定运行的问题,文中提出一种孤岛交直流混合微电网柔性多状态开关(soft normally open point, SNOP)统一下垂控制策略。该策略基于系统功率平衡关系,通过归一化方法将2条馈线的频率下垂特性和直流电压下垂特性相结合,根据交流频率和直流电压的变化情况,判断系统的运行状态,并通过SNOP统一调节交流子网频率和直流子网电压,使交、直流微电网能够均衡承担系统总功率变化量,从而确保交流频率和直流电压稳定在系统允许范围内。同时,为了优先确保分布式电源的就近消纳,避免SNOP的非必要动作,设计了SNOP的调节死区,使得交、直流微电网能够优先利用各子网内分布式电源,从而减少SNOP交、直流侧功率的频繁交互。最后,通过MATLAB/Simulink仿真验证了所提统一下垂控制策略的有效性。展开更多
随着新能源发电比例越来越高,其受电网三相不平衡的影响越来越明显,尤其负序超标是导致电力系统安全性降低的重要原因。统一潮流控制器(unified power flow controller,UPFC)具有调节各序电流输出的能力,可用于提升系统的平衡性。为此,...随着新能源发电比例越来越高,其受电网三相不平衡的影响越来越明显,尤其负序超标是导致电力系统安全性降低的重要原因。统一潮流控制器(unified power flow controller,UPFC)具有调节各序电流输出的能力,可用于提升系统的平衡性。为此,首先建立基于解耦-补偿原理的UPFC正序最优补偿潮流算法;其次构建UPFC的负序补偿电流控制模型,将电压不平衡补偿的优化求解问题归结为凸二次约束二次规划(quadratically constrained quadratic programming,QCQP)问题,并采用原-对偶内点法求取UPFC的负序电流最优输出值;最后提出计及正序网损与负序电压指标的负序电压补偿最优潮流(optimal power flow,OPF)计算方法以及区域负序电压总体补偿策略。通过算例分析验证所提出方法的可行性与有效性。展开更多
基金This work has been supported in part by Outstanding Overseas Scholar Award and Outstanding Young Scientist Research Fund.
文摘Linguistic dynamic systems (LDS) are dynamic systems whose state variables are generalized from numbers to words. Generally speaking, LDS can model all evolving processes in word domains by using linguistic evolving laws which are naturally the linguistic extension of evolving laws in numbers. There are two kinds of LDS; namely, type-I and type-II LDS. If the word domain is modeled by fuzzy sets, then the evolving laws of a type-I LDS are constructed by applying the fuzzy extension principle to those of its conventional counterpart. On the other hand, the evolving laws of a type-II LDS are modeled by fuzzy if/then rules. Note that the state spaces of both type-I and type-II LDSs are word continuum. However, in practice, the representation of the state space of a type-II LDS consists of finite number while its computation actually involves a word continuum. In this paper, the existence of fixed points of type-II LDS is studied based on point-to-fuzzy-set mappings. The properties of the fixed point of type-II LDS are also studied. In addition, linguistic controllers are designed to control type-II LDS to goal states specified in words.
基金supported in part by the National Natural Science Foundation of China under Grant 60875067the Natural Science Foundation of Heilongjiang Province under Grant F200602the Technical Innovation Talent Foundation of Harbin under Grant 2010RFQXG010
文摘It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.
基金Supported by the Key Program of National Natural Science Foundation of China （60634020）, Doctoral Program Foundation of Ministry of Education of China （20050533028, 20070533132）, Natural Science Foundation of Hunan Province （06J35145）, and Program for New Century Excellent Talents in University （NCET-07-0867）
文摘在光储孤岛直流微电网中,需要最大化利用光伏发电,通常对光伏系统采用最大功率点跟踪(maximum power point tracking, MPPT)技术。但传统的MPPT控制速度慢、精度低,特别是在局部阴影情形下极易陷入局部最优解。基于此,首先提出一种将布谷鸟搜索算法与电导增量法相结合的混合MPPT控制。利用布谷鸟搜索算法快速全局寻优,再使用电导增量法精确定位,实现快速而准确地跟踪最大功率点。储能单元是光储直流微电网的重要组成部分,其输出电流均分、荷电状态(stateof charge, SoC)均衡和直流母线电压稳定是主要控制目标。但电流均分受线路电阻差异的影响,进而影响SoC均衡和直流母线电压稳定,于是设计一种新的电压电流双环控制策略以实现上述目标。该策略在电压外环采用母线电压作为反馈值,在电流内环中设计了基于一致性算法的控制策略,将SoC与指数函数结合并引入加速因子,使得在充放电过程中实现SoC的快速均衡。所提控制策略既不需要下垂控制,也无需二次补偿控制,减轻了通信负担。最后在Matlab/Simulink中搭建直流微电网系统模型,验证所设计新的混合MPPT控制和电压电流双环控制策略的有效性。
文摘为解决孤岛模式下交直流混合微电网稳定运行的问题,文中提出一种孤岛交直流混合微电网柔性多状态开关(soft normally open point, SNOP)统一下垂控制策略。该策略基于系统功率平衡关系,通过归一化方法将2条馈线的频率下垂特性和直流电压下垂特性相结合,根据交流频率和直流电压的变化情况,判断系统的运行状态,并通过SNOP统一调节交流子网频率和直流子网电压,使交、直流微电网能够均衡承担系统总功率变化量,从而确保交流频率和直流电压稳定在系统允许范围内。同时,为了优先确保分布式电源的就近消纳,避免SNOP的非必要动作,设计了SNOP的调节死区,使得交、直流微电网能够优先利用各子网内分布式电源,从而减少SNOP交、直流侧功率的频繁交互。最后,通过MATLAB/Simulink仿真验证了所提统一下垂控制策略的有效性。
文摘随着新能源发电比例越来越高,其受电网三相不平衡的影响越来越明显,尤其负序超标是导致电力系统安全性降低的重要原因。统一潮流控制器(unified power flow controller,UPFC)具有调节各序电流输出的能力,可用于提升系统的平衡性。为此,首先建立基于解耦-补偿原理的UPFC正序最优补偿潮流算法;其次构建UPFC的负序补偿电流控制模型,将电压不平衡补偿的优化求解问题归结为凸二次约束二次规划(quadratically constrained quadratic programming,QCQP)问题,并采用原-对偶内点法求取UPFC的负序电流最优输出值;最后提出计及正序网损与负序电压指标的负序电压补偿最优潮流(optimal power flow,OPF)计算方法以及区域负序电压总体补偿策略。通过算例分析验证所提出方法的可行性与有效性。
