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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Pingyu Xiang Ke Qiu Danying Sun Jingyu Zhang Qin Fang Xiangyu Mi Shudong Wang Mengxiao Chen Yue Wang Rong Xiong Haojian Lu State Key Laboratory of Industrial Control and Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou China State Key Laboratory of Electrical Insulation and Power Equipment School of Electrical Engineering Xian Jiaotong University Research Center for Humanoid Sensing Zhejiang Lab 311100 Zhejiang Lab Nanhu Headquarters Hangzhou P.R. China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Magnetic continuum robots are subject to external magnetic fields and deformed remotely, simplifying the robot’s transmission mechanism and providing it with significant potential for miniaturization and operational flexibility. However, modeling magnetic field distribution generated by permanent magnets is complex and requires time-consuming pre-calibrations. Moreover, it is highly susceptible to environments with ferromagnetic materials, posing significant challenges for the control of magnetic continuum robots. In response, we propose an approach that does not overly focus on the magnetic field distribution but instead directly learns the inverse kinematics of magnetic continuum robots end-to-end. Binding the robot’s configuration to the pose of external magnets, precise control of continuum robots is facilitated. Additionally, we leverage teleoperation techniques to broaden the applicability of this method. By mounting magnets on a robotic arm and directly utilizing the target pose of the external magnet predicted by a multi-layer perceptron (MLP), we achieve the operation and navigation of magnetic continuum robots in complex environments. Experiments demonstrate that the mean control accuracy along the robot using our learning-based inverse kinematics is about half of the robot’s diameter.

关键词： Uncertainty Navigation Kinematics Manipulators Permanent magnets Continuum robots Magnetic fields Robots Intelligent robots Magnetic susceptibility

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IEC61850-based information modeling of 126KV intelligent terminals

IEC61850-based information modeling of 126KV intelligent ter...

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International Conference on Advanced power System Automation and Protection (APAP)

作者： Shu-jian Zhang Bin Wang Ming Sun Xin-zhou Dong Tong Sun Run-bin Cao Electrical engineering and automation Hefei University of Technology Baohe District 230009 China State Key Lab of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China School of Automation Nanjing University of Science and Technology Jiangsu 210094 China

The stability and reliability of the intelligent terminal's receiving information affects its control of intelligent switch in operation directly. To achieve reliable intelligent communications terminals, with techniques and methods of IEC61850 modeling, the paper completed the 126KVGIS intelligent terminal information model based on the analysis of its information characteristics, and established the hardware platform with data model and logical nodes provided by IEC61850. Thus it has a certain practical significance to promote the standard construction, operation and management of intelligent substation, and lead the digital process of process layer devices.

关键词： Object oriented modeling Switching circuits Circuit breakers Data models Unified modeling language Analytical models

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High-performance Full Electromagnetic Transient simulation System of Fujian power Grid and its Application

High-performance Full Electromagnetic Transient Simulation S...

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IEEE Conference on Energy Internet and Energy System Integration (EI2)

作者： Zhicheng Li Zhijun Tang Dongyuan Zhang Wujie Chao Xiaoyan Peng Yongjie Leng Fujian Key Laboratory of Smart Grid Protection and Operation Control Electric Power Research Institute State Grid Fujian Electric Power Co. Ltd Fujian China Fujian Key Laboratory of Smart Grid Protection and Operation Control Electric Power Research Institute State Grid Fujian Electric Power Co. Ltd Fuzhou China Integrated Electronic Systems Lab Co. Ltd. Jinan China

ISBN: (纸本)9781665434263

This paper proposes a high-performance full electromagnetic transient simulation system of Fujian power grid. The system is developed based on the General Transient Simulator (GTS), which is a self-developed electromagnetic transient simulation tool. The key technologies of the simulation system, such as the high-performance automatic parallel computing technology and the large time step electromagnetic transient simulation technology, are introduced. The full electromagnetic transient simulation of the AC power system above 10kV in Fujian power grid based on the dispatching control cloud platform is realized. Study cases are carried out and the validity and accuracy of the simulation are verified by comparing the actual fault recording data and simulation waveforms.

关键词： Cloud computing Computational modeling System integration power system stability Parallel processing power grids Dispatching

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Exploration on the value innovation of Energy Internet demonstration park

Exploration on the value innovation of Energy Internet demon...

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IEEE Conference on Energy Internet and Energy System Integration

作者： Lin Cheng Ning Qi Liting Tian Rong Li Shumin Sun State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China State Grid Shandong electric power company Shandong China

With the rapid development of Energy Internet, Energy Internet demonstration park has become the focus of international academy and industry. In this paper, main characteristics and objectives of Energy Internet demonstration park are analyzed and the architecture of Energy Internet demonstration park composed of the physical layer, information layer, and operation layer has been proposed. Moreover, both the old and new value of multi-energy complementary is summarized and discussed. Finally, numerical analysis of the demonstration Park is used to explore the value innovation mentioned above.

关键词： Energy internet Demonstration park Value innovation Multi-energy complementary Practice exploration

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Numerical investigation of the limit of coke rate reduction in an ironmaking blast furnace (BF)

Numerical investigation of the limit of coke rate reduction ...

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2021 International Conference on Electrical Engineering and Computer Technology, ICEECT 2021

作者： Li, Zhaoyang Feng, Yixiong Wang, Aimin Zhang, Lechen School of Mechanical Engineering Zhejiang University Hangzhou310027 China Shandong Iron and Steel Group Co. Ltd. Jinan250101 China Centre for Simulation and Modelling of Particulate Systems Southeast University - Monash University Joint Research Institute Suzhou215123 China State Key Lab. Fluid Power and Mechatron Syst. Zhejiang University Hangzhou310027 China Hengda Fuji Elevator Co. Ltd. Huzhou313009 China

Blast furnace (BF) ironmaking maintains its role as the predominating process for producing hot metal (HM) from iron ore. The process is highly carbon-consumption and emission intensive. Considering its massive production scale, any improvement of the process in terms of the operational parameters could results in significant social, environmental and economical benefits. The most concerned operational parameters of the BF is the coke rate, with the reduction of the coke rate being long time pursued. However, the limit of coke rate reduction for an operating BF is rarely attempted for safety and stability. Therefore, the limit for coke rate reduction for an operating BF largely remains implicit, with the underlying mechanism being unknown. In this work, a previously developed multifluid BF process model is used to investigate the limit of coke reduction on an experimental scale BF. With the gradual reduction of the coke rate, the BF is analysed in detail in terms of in-furnace multiphase flow, thermochemical behaviors as well as overall performance indicators. The minimum coke rate to maintain a targeted production is identified with the underlying mechanism for the BF operated with a coke rate at its limit explained. Also, possible measures for increasing the limits of coke reduction are proposed. This is done by increasing the hot blast temperature, which proves to be useful based on the simulation results. The results generated from this work should be useful to improve the BF ironmaking process efficiency, hence cutting CO2 emission and guiding green production in the future. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Blast furnaces

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Demand analysis of the information sharing among multi-bays through the process networks in intelligent distribution substation

Demand analysis of the information sharing among multi-bays ...

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International Conference on Advanced power System Automation and Protection (APAP)

作者： YueLin Yang Bin Wang BoYing Wen XinZhou Dong TingTing Wu Kun Liu College Of Information and Electrical Engineering CHINA Agricultural University Beijing 100083 China State Key Lab of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Beijing 100084 China School of Electrical Engineering & Renewable Energy China Three Gorges University Yichang 443000 China

Multi-bay information sharing has very important significances for the the enhancing of the relay characteristics and improving of the system control methods. With the summary of distribution substation busbar protection, small current grounding fault line selection, non-communication double-circuit line protection, reactive power and voltage control, low frequency load shedding control programmes, It analyse the needs of the information sharing among multiple bays and the application of integrated protection.

关键词： Circuit faults Substations Process control control systems Reliability Automation

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Improved simultaneous extrapolation in sharp impulse signals in time and frequency domains

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering 2006年第18期26卷 133-137页

作者： Zou, Jun Guo, Jian He, Jin-Liang Zhang, Bo Teng, Wen-Rui State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Tsinghua University Beijing 100084 China Dept. of Electrical Engineering Henan University of Technology Zhengzhou 450042 China

The characteristic of the transient response of the grounding system takes on a fast rising and slow damping with the lightning excitation. An improved simultaneous time and frequency domain extrapolation method is presented based on Hermite function expansion, which takes the above mentioned characteristic of the transient signal into account, using early time response and low-frequency data, the complete electromagnetic response is generated. By using mutually complementary data, simultaneous extrapolation in time and frequency domains are carried out by using the Hermite polynomials as the basis function. However, the extrapolation method is not suitable to deal with the transient response with the fast pulse excitation. The improvement for the extrapolation method is to pre- and post-process the transient response data with the fast pulse excitation. As a pre-processed procedure, in order to reduce the condition number of the matrix used for determined the coefficient of basis function, the scale transformation is used in time and frequency domain respectively, and the data in time domain is smoothed and padded with zero. An adaptive algorithm to determine the order of Hermite function is also proposed. As a post-processed step, the transient data are smoothed by using GPOF to obtain a convergent result. The numerical example and the field measurement are presented to illustrate the application of this methodology. The method proposed enhances the ability of the simultaneous time and frequency extrapolation techniques.

关键词： Signal processing

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Preventive control for combined heat and power system: A day-ahead security constrained economic dispatch model

Preventive control for combined heat and power system: A day...

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The 11th IET International Conference on Advances in power System control, Operation and Management (APSCOM 2018)

作者： Qunli Lin Xinwei Shen Yinliang Xu Yong Sun Zhenyuan Li Qinglai Guo Hongbin Sun Shenzhen Environmental Science and New Energy Technology Engineering Laboratory Tsinghua-Berkeley Shenzhen Institute Tsinghua University Shenzhen China Jilin Power Grid Company State Grid Corp. of China Jilin China State Key Lab of Control and Simulation of Power System and Generation Equipments Department of Electrical Engineering Tsinghua University Beijing China

ISBN: (数字)9781839530043

Integrated Energy System (IES), which plays a vital role in the development of Energy Internet (EI), can improve the efficiency of energy utilization and integration of renewable energy. However, the coupling between multiple energy systems will bring new challenges to the security control of the IES, such as combined heat and power (CHP) system. For IES, the preventive control is the first line of defense to ensure that the system can keep stable operation when contingencies such as the transmission outage or generator outage happen. This paper proposes a preventive control approach for CHP system, in which a day-ahead security constrained economic dispatch (SCED) model of CHP system considering the coupling of heat and electric is formulated. The model aims to minimize the cost of the whole system, while the preventive control of the system can be achieved with the constraints considering the normal states and contingencies states. Case studies based on the IEEE 9-bus system with CHPs are presented to illustrate the approach. The case result shows that the combined electric and heat optimal dispatch is more economical than when two systems are independently optimized and operated. And the proposed preventive control approach of the CHP system can satisfy both the electric and heat demand, and system security is ensured when the N-1 contingencies happened.

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Adaptive Galerkin approach of the indirect boundary element method for calculating 3D linear magnetostatic field

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering 2006年第1期26卷 96-100页

作者： Zou, Jun He, Jin-Liang Yu, Hai-Yu Teng, Wen-Rui State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Tsinghua University Beijing 100084 China Dept. of Electrical Engineering Henan University of Technology Zhengzhou 450042 China

The indirect boundary element method has some special advantages for the 3D linear magnetostatic field calculation by using the equivalent magnetic surface charge. In order to improve the accuracy of solutions and decrease the computational costs, an adaptive Galerkin approach to solve the magnetostatic integral equation is presented by using the h-type refinement technology. The basic idea of the proposed approach can be summarized as follows. The error of magnetic flux density is globally minimized in the Galerkin sense in the implementation, so the continuity error of magnetic flux density of each element can be served as a criterion to guide the adaptive refinement. The singularity of geometric corners and edges can be overcome due to the scheme of the discretization of the integral equation with Galerkin's approach. In addition, a local resolution technology is proposed, which leads to the minimal refined unknown. The numerical examples show the proposed method is efficient and accurate by comparison to the analytical solutions and the measured results.

关键词： Magnetic fields

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Pattern analysis of future HVDC grid development

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering 2014年第34期34卷 6007-6020页

作者： Yao, Liangzhong Wu, Jing Wang, Zhibing Li, Yan Lu, Zongxiang China Electric Power Research Institute Haidian District Beijing100192 China State Key Lab of Control and Simulation of Power Systems and Generation Equipments Department of Electrical Engineering Tsinghua University Haidian District Beijing100084 China

The development of high voltage direct current (HVDC) grid is an effective approach to implement the large-scale long-distance power transmission, the large-scale renewable energy integration and accommodation, and the safe and stable operation of the interconnected AC grids. This paper reviewed the latest research progresses of DC transmission technologies, summarized the characteristics of DC grid, and discussed the current research status of DC grid. Then a typical topology of HVDC grid considering the integration of large-scale renewable generations over different regions was proposed. The technical requirements of such a HVDC grid was studied and refined accordingly. Furthermore, new types of key equipment, new control and protection technologies, reliability evaluation methods and standard system of such a HVDC grid were analyzed and the present research foundations and the future research directions of these relevant technologies were stated. It provides a technical reference for future research and construction of the DC grid in China. © 2014 Chin. Soc. for Elec. Eng.

关键词： HVDC power transmission

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