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arXiv 2025年

作者： Xu, Xiangyu Zheng, Zhi Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Flapping-wing robots offer great versatility;however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of T3, a novel tailless flapping-wing robot with three pairs of independently actuated wings. Inspired by juvenile water striders, T3 incorporates bio-inspired elastic passive legs that effectively transmit vibrations generated during wing flapping, enabling ground movement without additional motors. This novel mechanism facilitates efficient multi-modal locomotion while minimizing actuator usage, reducing complexity, and enhancing performance. An SE(3)-based controller ensures precise trajectory tracking and seamless mode transition. To validate T3’s effectiveness, we developed a fully functional prototype and conducted targeted modeling, real-world experiments, and benchmark comparisons. The results demonstrate the robot’s and controller’s outstanding performance, underscoring the potential of multi-modal flapping-wing technologies for future aerial-ground robotic applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Antenna grounds

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Dynamic simulation based on Jacobian-free Newton-GMRES methods with adaptive preconditioner for power systems

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Science China(Technological Sciences) 2013年第8期56卷 2037-2045页

作者： HUANG ShaoWei CHEN Ying SHEN Chen MEI ShengWei State Key Laboratory of Control and Simulation of Power Systems and Generation Equipments(Department of Electrical Engineering Tsinghua University)

Dynamic simulation is one of the most complex and important computations for power systems *** solutions based on normal Newton iterations almost all depend on evaluations of Jacobian matrixes,which increases the programming complexity of and limits the parallelizability of the whole *** this paper,a new adaptive preconditioned Jacobian-free Newton-GMRES(m)method is proposed to be applied to dynamic simulations of power *** new method has totally Jacobian-free characteristics,which saves calculations and storages of Jacobian matrixes and features strong ***,several speedup strategies are introduced to enhance efficiency and parallelizability of overall *** tests are carried out on IEEE standard test systems and results show that in series computing environment,simulations based on the proposed method have comparable speed to those based on classical Newton-Raphson methods.

关键词： dynamic simulation Newton-GMRES preconditioner power system

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Integrated generation–consumption dispatch based on compensation mechanism considering demand response behavior

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Journal of Modern power systems and Clean Energy 2018年第5期6卷 1025-1041页

作者： Yumin ZHANG Xueshan HAN Li ZHANG Bo XU Mingqiang WANG Ming YANG Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua University

Demand response(DR) is important to account for behaviors of the demand side to yield an optimal dispatch result. However, it is difficult for energy suppliers to collect customers' private information unless there is an incentive mechanism for customers to do so. Therefore,this paper proposes a new integrated generation–consumption dispatch based on compensation mechanism considering DR behavior. Firstly, in light of the dayahead load forecast data, we deduce the utility function model of different customers. By subtracting generating units' operation cost from consumers' total utility, the dispatch model has a decentralized demand participant structure based on this utility function. The utility function is used to describe consumers' preferences and energy consumption behaviors. Secondly, an effective compensation mechanism is designed to ensure customers to select the level of compensation appropriate to their willingness to curtail load. Finally, a new dispatch model is proposed that incorporates the DR compensation mechanism into the generation–consumption dispatch model. The new model can improve the interaction of generation and consumption,and benefit both the energy supplier and its customers. The proposed model is piecewise linearized and solved by a mixed-integer linear programming method. It is tested on a six-bus system and the IEEE 118-bus system. simulation results show that the proposed model can realize both maximum social welfare and Pareto optimal results.

关键词： Compensation mechanism Demand response Demand utility function Integrated generation– consumption dispatch

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A game-theoretic method for prediction of microgrid growing trends in China

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Science China(Technological Sciences) 2015年第10期58卷 1760-1766页

作者： ZHAO Min SHEN Chen LIU Feng HUANG XiuQiong State Key Laboratory of Control and Simulation of Power Systems and Generation Equipments Department of Electrical EngineeringTsinghua University Guangxi Power Grid Corporation China Southern Grid

This paper presents a game-theoretic method to predict microgrid(MG) development tendency in China. As many distribution generators(DGs) are integrated in distribution systems, analysis of MG formation necessity is conducted from the aspect of DGs. In order to maximize the profit brought by DGs and to earn money from arbitrage, it may be necessary for customers to combine their DGs and loads and to construct an MG to obtain maximal control ability. A game model is built to emulate trading between MGs and the distribution system based on MG power control, in which both trading profit and outage cost are considered for each MG. Nash equilibrium(NE) is calculated, and sensitivities of NE to some boundary conditions are studied. The results show that variable MG trading prices with appropriate net generation cost(i.e., DG generation cost minus government subsidy price) may encourage the growth of MGs. Government subsidies, generation costs, and trading prices may also affect DG use, and therefore they may impact customer motivation to build MGs.

关键词： microgrid game distributed generation smart grid

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Linear Precoding Design for MIMO-PLC systems

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Tsinghua Science and Technology 2015年第2期20卷 155-163页

作者： Jisheng Peng the State Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua Uinversity

In this paper, we consider the design of linear precoding in Multiple Input Multiple Output （MIMO） power Line Communication （PLC） systems with finite-alphabet input. First, we derive mutual information of MIMO-PLC systems with impulsive noise. Considering the non-concavity of the objective function and the low-cost requirement of PLC systems, we choose the lower bound of the mutual information as the objective function. Subsequently, we propose a novel approach to design the precoding scheme to reduce computational complexity. Specifically, our work primarily includes the following two contributions：（1） We design the right unitary matrix that is a product of two fixed unitary matrices, which only depends on the modulation mode. Hence, the results can be saved and require less computations. （2） For the power allocation matrix, we first reduce the space of power allocation using constraints of the optimal power allocation policy. Consequently, we propose a non-linear search method to obtain the optimal power allocation in small space. In regards to the computational complexity of the analysis, we conclude that the proposed precoding matrix design scheme has low complexity and is easy to implement. Moreover, the numerical results are proven to demonstrate the performance of the proposed precoding design scheme.

关键词： precoding design MIMO-PLC impulsive noise finite-alphabet input

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Design and engineering implementation of non-supplementary fired compressed air energy storage system: TICC-500

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Science China(Technological Sciences) 2015年第4期58卷 600-611页

作者： MEI Sheng Wei WANG Jun Jie TIAN Fang CHEN Lai Jun XUE Xiao Dai LU Qiang ZHOU Yuan ZHOU Xiao Xin State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical EngineeringTsinghua University Key Laboratory of Cryogenics Technical Institute of Physics and Chemistry Chinese Academy of Sciences Department of Power Systems China Electric Power Research Institute

The integration and accommodation of the wind and solar energy pose great challenges on today’s power system operation due to the intermittent nature and volatility of the wind and solar *** efficient large-scale electrical energy storage is one of the most effective and economical solutions to those *** the comprehensive review of the existing storage technologies,this paper proposes an overall design scheme for the Non-supplementary Fired Compressed Air Energy Storage(NFCAES)system,including system design,modeling and efficiency assessment,as well as protection and ***,the design principles of the multistage regenerative,*** recovery system which is used to fully recycle and utilize the waste heat from compression are provided,so as the overall system efficiency evaluation *** paper theoretically ascertains the storage decoupling rules in the potential and internal energy of molecular compressed air and reveals the conversion mechanism of gas,heat,power,electricity and other forms of *** this basis,a 500-k W physical simulation system of CAES system(TICC-500,Tsinghua-IPCCAS-CEPRI-CAES)is built,which passed a system-wide 420-k W load power generation test with less pollution and zero carbon ***,the multi-form energy conversion of multi-stage regenerative CAES and storage efficiency is verified,especially its incomparable superiority in solving the uncertainty problem in wind and solar power ***,the propaganda and application scenario of the CAES system in China is introduced.

关键词： index terms-compressed air energy storage non-supplementary fired regenerative/heat recovery multi-stage expansion TICC-500

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Real-time electromagnetic transient simulation algorithm for integrated power systems based on network level and component level parallelism

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Science China(Technological Sciences) 2012年第11期55卷 3232-3241页

作者： CHEN LaiJun CHEN Ying MEI ShengWei State Key Laboratory of Control and Simulation of Power Systems and Generation Equipments(Department of Electrical Engineering Tsinghua University)Beijing 100084China

The analysis and simulation of power system are becoming more and more challenging as the complexity of system topology and components has been increased. In this paper, a hybrid parallel algorithm is proposed for the real-time electromagnetic transient simulation （EMTS） of integrated power systems containing multiphase machines. The proposed algorithm is com- posed of a novel network partition method called component level parallelization and the Multi-Area Thevenin Equivalent （MATE） method, which extends the flexibility of the network partition in parallel simulation. Moreover, several methods are developed to enhance the efficiency of the communication and computation. power systems with up to 410 single-phase elec- trical nodes and 336 switches are simulated in a time step of 50 ~ts to validate the proposed algorithm.

关键词： EMTP multiphase machine network partition parallel computing power system real-time simulation

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Indirect Adaptive Robust Trajectory Tracking control of Hard Rock TBM with Load Variation of Tunneling Face

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Chinese Journal of Mechanical Engineering 2019年第2期32卷 168-179页

作者： Chengjun Shao Jianfeng Liao Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Fluid Power Transmission and Control Zhejiang University

Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly.

关键词： Open type hard rock TBM Inhomogeneous load Position and posture rectification Indirect adaptive robust control

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Extraction and application of intrinsic predictable component in day-ahead power prediction for wind farm cluster

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Energy 2025年 328卷

作者： Mao Yang Renxian Jiang Xinnan Yu Bo Wang Xin Su Chenglian Ma The Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin 132012 China State Key Laboratory of Operation and Control of Renewable Energy & Storage Systems China Electric Power Research Institute Beijing 100912 China

With the continuous updating and iteration of artificial intelligence algorithms, prediction models emerge one after another, but the research and utilization of the predictability of wind power is still less. Therefore, this paper proposed a day-ahead power prediction method for Wind Farm Cluster (WFC) based on intrinsic predictable component extraction. Firstly, based on the difference of power distribution between wind farm and WFC, a method of Wind power Curve (WPC) modeling for WFC is proposed, which provides the basis for establishing the Final Set of Wind power Curve (FSWPC). Secondly, the Intrinsic Predictable Component (IPC) of wind power is extracted based on the FSWPC, and the Interference Component (IC) of wind power is separated to eliminate the influence of IC on IPC in the process of prediction. Thirdly, the historical similarity matching method with large threshold is used to predict the IC to make up for the numerical deficiency of the IPC. Finally, the proposed method was applied to a WFC in China to verify its effectiveness. Compared with the traditional prediction strategy, the NRMSE, NMAE and MAPE are reduced by 1.59 %, 1.15 % and 6.42 %, respectively.

关键词：

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FDCA-DSTGCN: A Wind Farm Cluster power Day-ahead Prediction Model Based on Frequency Domain Information Gain and Dynamic Trend Sensing

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IEEE Transactions on Sustainable Energy 2025年

作者： Yang, Mao Niu, Jiajun Wang, Bo Huang, Dawei Su, Xin Ma, Chenglian Ministry of Education Northeast Electric Power University Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Jilin132012 China China Electric Power Research Institute State Key Laboratory of Operation and Control of Renewable Energy & Storage Systems Beijing100912 China

Accurate wind farm cluster power prediction (WFCPP) is of vital significance for new power systems with large-scale wind power integration. The current WFCPP modeling method ignores the important role of wind direction and frequency domain information, resulting in insufficient use of spatial information and difficult to improve the prediction accuracy. In order to solve the above problems, a day-ahead power prediction model for wind farm cluster power is proposed based on information gain in frequency domain and dynamic trend sensing. Firstly, a cluster division method based on graph theory and progressive fusion of multiple information is proposed, and a virtual information node is set up. Secondly, a method to identify prevailing wind direction under time window is proposed for subsets, and a dynamic weighted directed graph structure is designed based on prevailing wind direction and wind speed. Thirdly, a dynamic spatio-temporal graph convolutional network model with frequency domain gain channel attention mechanism (FDCA-DSTGCN) is proposed to integrate the above information and complete the prediction. Finally, the proposed method is applied to a wind farm cluster in Inner Mongolia of China. Compared with the existing and traditional prediction methods, the normalized root mean square error of the proposed method is reduced by 1.13% -2.15%, which verifies the effectiveness of the proposed method. © 2010-2012 IEEE.

关键词： Mean square error

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