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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Hierarchical Modeling of Cyber-physical Power system for State Evolution Analysis 7

Hierarchical Modeling of Cyber-physical Power System for Sta...

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7th Asia Conference on Power and Electrical Engineering, ACPEE 2022

作者： Zhang, Xiang Wang, Hongtao Shan, Yuechen Zhai, Shibo Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Jinan China

ISBN: (纸本)9781665418195

In the highly automatic smart grid, the security control and service quality of power system are significantly depended on information network. From the perspective of information interaction, cyber-physical power system (CPPS) is divided into power physical layer, communication layer and control layer in this paper. First, three layers of CPPS and the coupling relationship between them are modeled in the form of matrices. Then, the state evaluation process of CPPS under attacks is deduced, and an integrated model is established. Finally, the propagation mechanism of information attack is briefly analyzed, and the IEEE 39-bus system is used to testify the proposed model. © 2022 IEEE.

关键词： Smart power grids

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Integrated Scheduling for Power system with High Proportion of Renewable Energy Considering Multiple Time Resolution and Energy Storage system 5

Integrated Scheduling for Power System with High Proportion ...

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5th International Conference on Energy, Electrical and Power Engineering, CEEPE 2022

作者： Guo, Junshao Wang, Mingqiang Liu, Jianan Li, Jianying Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China

ISBN: (纸本)9781665479059

In the context of the clean and low-carbon energy revolution, high proportional renewable energy source (RES) will be one of the basic characteristics of the future power system. The traditional sequential scheduling module exposes serious problems. In order to solve these problems above, this paper establishes an integrated scheduling model, which determines unit reserve, base points (BPs) and participation factors (PFs) at the same time. It realizes the integrated decision-making of unit commitment (UC), economic dispatch (ED), and PFs of automatic generation control (AGC). To accurately capture the newly updated short-term wind power forecast, the finer time resolution is applied in the first few time intervals, such as 5, 15 and 30 min. Simultaneously, for the short-term wind power spike, energy storage system (ESS) as its countermeasure is used to deal with it. The entire model is regarded as a mixed integer linear programming (MILP) model, which is solved by CPLEX solver. The practicality and validity of the proposed model are verified by the IEEE-RTS system. In general, the integrated model proposed in this paper can accommodate more RES integration, relieve wind curtailment, reduce the total cost and improve the security of the power system, which has a wider application prospect in the power system scheduling field. © 2022 IEEE.

关键词： Renewable energy sources Costs Energy resolution Automatic generation control Wind power generation Power systems Security

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Ill-conditioned Problem of Fault Location Equations for Three-Terminal Lines in Distribution Network by μMPMU

Ill-conditioned Problem of Fault Location Equations for Thre...

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2022 Power system and Green Energy Conference, PSGEC 2022

作者： Zhang, Junpeng Meng, Xinyuan Wang, Rundong Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan China

ISBN: (数字)9781665499934

ISBN: (纸本)9781665499934

Three terminal line is a typical structure in distribution network, and its fault location has been the focus because of the large scale distributed generation integration. Recently, a parameter-free fault location method based on line voltage was proposed, which overcomes the problem that line parameters are unknown and only two line voltages can be measured in distribution network of China. Although it is more practical than previous methods, the RTDS test shows that the location equations of this method have ill-conditioned problems, that is, tiny measurement error causes too large deviation in the result. To study this problem, the ill-conditioned problem of the location equations is analyzed by condition number at first. Then the condition number of the location equations is calculated by simulation, and it is verified that the location results will produce a large error in the condition of small error of PSCAD simulation data and μMPMU measurement data from RTDS device. © 2022 IEEE.

关键词： Errors

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An Integrated Energy system Operation Model Considering New Electricity Marketing Strategy 5

An Integrated Energy System Operation Model Considering New ...

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5th International Conference on Energy, Electrical and Power Engineering, CEEPE 2022

作者： Liu, Shuai Wang, Mingqiang Lian, Xiaoyang Hu, Yuxi Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan China

ISBN: (纸本)9781665479059

In recent years, the economic operation of Integrated Energy system (IES) has been widely concerned. How to determine the energy price has become an urgent problem to be solved of IES. In order to overcome this problem, a modified IES operation model considering new electricity marketing strategy is proposed. In this model, the combined stochastic/robust optimization (S/RO) is established to minimize the sum of electricity exchange cost, fuel purchasing cost, operating cost, flexibility adjustment cost and renewable curtailment cost. Based on the bounded uncertainty-based robust optimization (BURO), the modified IES operation model is transformed into a mixed integer linear programming (MILP) model, which is solved by CPLEX solver. The feasibility and effectiveness of the proposed model are illustrated on the IEEE 33-node distribution system with 11-node heat-cold system. © 2022 IEEE.

关键词： Heating systems Renewable energy sources Power engineering Costs systems operation Stability analysis Probability distribution

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HIGH-FREQUENCY OSCILLATION ANALYSIS OF WIND FARM-SIDE MMC STATION UNDER NO-LOAD CHARGING CONDITION 20

HIGH-FREQUENCY OSCILLATION ANALYSIS OF WIND FARM-SIDE MMC ST...

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20th International Conference on AC and DC Power Transmission 2024, ACDC 2024

作者： Yang, Yongqing Ye, Hua Li, Guanqun Yang, Jialun Zhao, Yujing Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University 17923 Jingshi Road Jinan China State Grid Jinan Power Supply Company Jinan China

ISBN: (纸本)9781837242672

Existing research on high-frequency oscillation indicates that the high-frequency oscillation during no-load charging of modular multilevel converter (MMC) station is primarily linked to time delay and the ground capacitance of AC lines. Nevertheless, a high-frequency oscillation around 2000 Hz has been observed in Rudong high voltage direct current project even when the AC lines are not connected. Except time delay, there still exists another key factor of the high-frequency oscillation, i.e., the transformer stray capacitance. This paper delves into the interaction among the dynamics of MMC station and the transformer. And the mechanism of high-frequency oscillation under no-load charging condition is determined. Firstly, the harmonic state space (HSS) model of MMC station considering the effect of stray capacitance is established. By plotting the eigenvalue trajectory, the essentiality of taking into account stray capacitance is elucidated. Subsequently, a simplified model is obtained by neglecting the dynamics of elements with low participation in the oscillation modes. Next, the mechanism of high-frequency oscillation is clarified according to impedance characteristics. Finally, the impact of proportional gain and shear frequency on small signal stability is revealed. The correctness and accuracy are identified by electromagnetic transient simulations. © The Institution of Engineering & Technology 2024.

关键词： Eigenvalues and eigenfunctions

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Robust Black Start Strategy with a High Share of Renewable Energy Generation 6

Robust Black Start Strategy with a High Share of Renewable E...

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6th IEEE Conference on Energy Internet and Energy system Integration, EI2 2022

作者： Fan, Xuemei Wang, Hongtao Li, Yong Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Jinan China

ISBN: (纸本)9798350347159

Renewable energy generation is expected to participate in black start in case of blackout events, as they can significantly speed up power system restoration. This paper proposes a startup strategy aiming to improve the black start robustness against uncertainties introduced by wind or photovoltaic power plants. The strategy is composed of a short-term emulation model and a long-term ordered participation model. The short-term model concerns the transient state frequency and voltage stability under black start disturbances. It emulates the regulating capability of the power plants so as to determine if they can withstand the black start events. The long-term model deals with the steady state power and energy balance during black start units ramping. It takes into consideration the uncertainty of wind and photovoltaic power and calculates the confidence power output interval, and thereby prevents generation shortage caused by renewable power fluctuations. Based on the proposed strategy, an ordered participation algorithm is presented for online decision making of black start schemes, which are validated using a practical regional power system based study case. The results show that the proposed method can improve system robustness and stability for black start with wind and photovoltaic power. © 2022 IEEE.

关键词： Wind power

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Fault Ranging Method Based on Multisynchrosqueezing Transform for Flexible DC Transmission Lines 7

Fault Ranging Method Based on Multisynchrosqueezing Transfor...

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7th International Symposium on Advances in Electrical, Electronics, and Computer Engineering

作者： Yu, Chengao Gao, Zhanjun Yang, Tao Liu, Zhao Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China

ISBN: (纸本)9781510656437

Due to the dispersion effect of the traveling wave, the wave speed has frequency variation characteristics, and the error of the fault ranging method using empirical wave speed is large. To address this problem, this paper proposes a fault ranging method based on Multisynchrosqueezing Transform (MSST) for flexible DC transmission lines, the MSST method is used to perform time-frequency analysis of the fault line mode voltage traveling wave, to obtain the precise time and frequency information of the traveling wave arriving at the measurement points on both sides of the line, and to calculate the distance of the fault point according to the double-end ranging principle by combining the frequency variation characteristic curve of the wave speed. Since MSST squeezes the signal several times, it effectively improves the time-frequency aggregation of the signal, and the time-frequency feature extraction of the traveling wave and the identification of the wave head are more accurate. Finally, the effectiveness of the fault ranging algorithm was verified by the simulation of PSCAD and MATLAB. © 2022 SPIE. All rights reserved.

关键词： MATLAB

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Continuous Feature Representation of Fault Location Based on Electrical Distance for Generalizable Data-Driven Dynamic Security Assessment

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IEEE Transactions on Power systems 2025年

作者： Qi, Hang Li, Changgang Liu, Yutian Sun, Runjia Yan, Jiongcheng Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan250061 China

Pre-fault dynamic security assessment (DSA) of power systems needs to consider different fault locations. Existing data-driven DSA methods lack generalizable fault location features, failing to accurately assess unlearned fault locations, i.e., fault locations not in the training set. To address this issue, this paper proposes a continuous feature representation method of fault location based on electrical distance, aiming to construct a pre-fault DSA model generalizable to unlearned fault locations. Firstly, fault location is represented continuously as an electrical coordinate with the electrical distance to preselected reference nodes. Then, the representation ability of electrical coordinates to fault locations is optimized by reference node selection and metric learning. Finally, with electrical coordinates and steady-state features as input, a hybrid DSA model composed of convolutional and radial basis function networks is constructed to assess system angular and voltage dynamics with different fault locations. The generalization performance of the proposed DSA method on unlearned fault locations is verified on New England 39-bus system and a provincial system of China. © 1969-2012 IEEE.

关键词： data-driven Fault location feature representation power system pre-fault dynamic security assessment

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An Optimal Scheduling Strategy for Wind-PV and Multi-Type Energy Storage Co-Generation system 6

An Optimal Scheduling Strategy for Wind-PV and Multi-Type En...

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6th International Conference on Power and Energy Applications, ICPEA 2023

作者： Ma, Huan Tian, Hao Zhang, Kunpeng Liu, Yutian Shandong Electric Power Research Institute Jinan China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan China

ISBN: (纸本)9798350359053

Multi-type energy storage is essential for managing fluctuations in renewable energy power and increasing the consumption rate of renewable energy. In this paper, an optimal scheduling strategy for the co-generation system comprising wind power, photovoltaic power, electrical energy storage, and hydrogen energy storage is proposed. The strategy consists of a global optimization model and an application-oriented Pareto optimal solution screening methodology. The global optimization model establishes a multi-objective optimization model based on meteorological prediction information that considers the intended output power completion of the co-generation system, the remaining equivalent power of the energy storage plant, and the equivalent production of hydrogen. The NSGA-II is utilized to solve the global optimization model and obtains multiple Pareto optimal solutions. The optimal solutions are screened by applying the application-oriented Pareto optimal solution screening methodology. Finally, a co-generation plant in Shandong Province is presented to validate the effectiveness of the proposed approach in mitigating wind variability and encouraging the adoption of renewable energy sources. © 2023 IEEE.

关键词： Multiobjective optimization

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