Brain-computer communication: motivation, aim, and impact of exploring a virtual apartment.

The step away from a synchronized or cue-based brain-computer interface (BCI) and from laboratory conditions towards real world applications is very important and crucial in BCI research. This work shows that ten naive subjects can be trained in a synchronous paradigm within three sessions to navigate freely through a virtual apartment, whereby at every junction the subjects could decide by their own, how they wanted to explore the virtual environment (VE). This virtual apartment was designed similar to a real world application, with a goal-oriented task, a high mental workload, and a variable decision period for the subject. All subjects were able to perform long and stable motor imagery over a minimum time of 2 s. Using only three electroencephalogram (EEG) channels to analyze these imaginations, we were able to convert them into navigation commands. Additionally, it could be demonstrated that motivation is a very crucial factor in BCI research; motivated subjects perform much better than unmotivated ones.     

Adaptive output feedback control for a class of nonlinear systems with unknown virtual control coefficients signs

This paper presents a global output-feedback control scheme for a class of nonlinear systems that are transformed via a parameter-independent change of co-ordinates into a form in which there exist three kinds of unknown parameters: one is the unknown virtual control coefficients, one is the unknown parameters that multiply output nonlinearities and the other kind is the unknown parameters that multiply affine functions of the derivative of the measured output with coefficients that are smooth nonlinear functions of the measured output. We use two parameter-dependent changes of co-ordinates to transform the system considered into parametric output-feedback form. One transformation is used to eliminate the difficulty in dealing with unknown virtual control coefficients and the other transformation is used to remove the nonlinearities which are affine functions of the derivative of the measured output with coefficients that are smooth nonlinear functions of the measured output. Then the scheme presented by Ye (IEEE Trans. Automat. Control 2001; 46 :112–115) can be applied to the new system. Global results can be obtained for the overall closed-loop systems without any constraints on the nonlinear terms. Copyright © 2006 John Wiley & Sons, Ltd.     

虚拟同步机电流传感器故障容错模型预测控制

虚拟同步机(virtual synchronous generator, VSG)交流电流传感器容错控制中存在不可测区域,影响VSG容错运行。为此,提出基于电流重构的故障容错模型预测控制(model predictive control, MPC)策略,消除不可测区域,实现全域内的电流重构。首先,该策略分析不同开关状态下直流电流测量值对应的相电流,设计交流电流传感器故障判据。其次,分析不可测区域成因并根据可测量相电流的数量不足和矢量持续时间过短将其分为两类。为消除因可测量相电流不足造成的不可测区域,设计可测量两相电流的虚拟矢量,通过直流电流重构三相电流。为消除因矢量持续时间过短造成的不可测区域,建立LCL型VSG输出电流预测模型,通过直流电流和单电压矢量的预测电流重构三相电流。最后,通过故障容错MPC策略从虚拟矢量和单电压矢量中选择最优矢量,实现全域内的电流重构和VSG的容错运行。实验验证了所提方法的有效性,说明该方法提高了VSG的可靠性和容错能力。     

基于改进虚拟同步发电机的多逆变器频率无差控制策略

在采用传统虚拟同步发电机频率恢复控制的离网微电网中,由于纯积分模块的引入和一次调频响应较慢,造成系统功率分配不均和一、二次调频耦合问题.为此提出了一种具有自动开关延时的虚拟同步发电机无差调频控制策略,即用可控的频率积分反馈回路代替传统虚拟同步发电机频率控制回路.通过改进的控制策略,可使微网逆变器根据角速度变化量的不同自...     

氢燃料电池并入微电网的改进虚拟同步机控制

近年来,氢燃料电池等新能源并入微电网得到了人们广泛的关注。提出一种采用虚拟同步机技术的氢燃料电池发电系统。首先建立了氢燃料电池数学模型,分析了其电压输出特性和功率特性。在此基础上设计了两级变换器式并网控制系统。在虚拟同步机控制中,针对功率外环中一阶滤波器低频特性影响系统稳定性和动态性能的问题,在原有滤波器的基础上引入陷波滤波器进行优化补偿。最后,利用Matlab/Simulink进行仿真,对比优化前后滤波效果,并对网侧电压、电流总畸变(THD)进行仿真测试,验证了优化后的滤波器及控制系统的有效性和可行性。     

基于虚拟同步发电机的固态变压器交流端口柔性控制策略研究

固态变压器(solid state transformer, SST)能实现传统电力变压器的变压、隔离作用,还可实现灵活的电能调控作用,但不具备传统同步发电机的机械特性及同步运行机制。当分布式电源经SST接入电网时,由于其出力的随机性和波动性,将对上级电网造成冲击,导致电网电压/频率波动。提出一种基于虚拟同步发电机的SST交流端口控制策略。首先,建立模块化多电平型输入级和同步发电机等效模型,将虚拟同步发电机原理融入输入级控制策略,以提高SST并网端口的电能质量、惯性及阻尼特性,并使其具备参与电网调频、调压能力。其次,提出储能装置辅助调频控制,保障SST参与一次调频时低压系统负载功率消耗平衡。最后,确立了输出级虚拟同步发电机控制策略,以提高低压交流端口负荷功率响应特性,实现SST对上级电网的友好性。在Matlab/Simulink平台搭建仿真模型,验证了所提SST拓扑结构及其控制策略的正确性和有效性。     

Frequency response of evoked potential in normal and diseased nervemuscle

We examined the nerve-muscle response using principles of control theory. In vivo experiments allow control of other factors that may also influence muscle response. We propose that nerve-muscle response might consist of three transfer functions: nerve, end-plate, and muscle. In general, nerves can respond until about 1000 Hz stimulation, so the results of this experiment were not greatly influenced by the transfer functions of nerves. That is, the results of this study were influenced by the transfer function of end-plate and muscle. Ensuing research should, therefore, strive to identify individual peripheral nerve, end-plate, and muscle responses. Furthermore, in order to apply the results of this study to human muscle, the following matters need to be considered: (1) Our model does not take into account that the major part of human muscles are composed of different fiber types. (2) Muscle properties depend on age, metabolic and nutritional state, and on the level of muscular activity before the experiment. Our experiments demonstrated the controlling factors of nerve-muscle condition and have shown that the neuromuscular control system can be described by methods of control theory     

基于故障分量虚拟阻抗的线路差动保护原理

针对传统纵联保护的不足,提出了一种基于故障分量虚拟阻抗的线路差动保护原理。考虑分布参数的影响,利用线路两端故障分量推导线路中任意点处的电压、电流故障序分量,并将二者之比定义为虚拟阻抗。取线路中点处各序的电流故障分量和虚拟阻抗构成保护判据,识别各种类型的故障。仿真结果表明,该判据能准确识别各种类型的故障,灵敏度和可靠性较高,且不受故障位置、过渡电阻、负荷电流、分布电容及信息同步的影响。     

直流微网双向DC/DC变换器虚拟惯量和阻尼系数自适应控制策略

在高新能源渗透率下的直流微网系统中,电力电子器件比例不断提高,导致系统存在低惯性问题,降低系统运行稳定性。为此提出了一种改进的虚拟惯量和阻尼系数自适应控制策略。该方法通过类比交流系统逆变器的虚拟直流发电机控制,分析直流微网系统在虚拟惯量和阻尼系数控制下负荷扰动量与输出电压扰动量的关系特性,将自适应控制策略引入虚拟惯量和阻尼系数。通过建立小信号模型,利用系统输出阻抗结合阻抗比判据给出虚拟惯量和阻尼系数的变化范围和边界,分析虚拟惯量和阻尼系数自适应选取下系统惯性变化及母线电压响应效果,该方法提高了直流微网系统惯性,同时改善了直流母线的动态响应。最后通过Matlab/Simulink仿真和RT-LAB半实物实验,验证了所提控制策略的有效性。     

Parallel inverter control using different conventional control methods and an improved virtual oscillator control method in a standalone microgrid

This paper develops a multi-timescale coordinated operation method for microgrids based on modern deep reinforcement learning. Considering the complementary characteristics of different storage devices, the proposed approach achieves multi-timescale coordination of battery and supercapacitor by introducing a hierarchical two-stage dispatch model. The first stage makes an initial decision irrespective of the uncertainties using the hourly predicted data to minimize the operational cost. For the second stage, it aims to generate corrective actions for the first-stage decisions to compensate for real-time renewable generation fluctuations. The first stage is formulated as a non-convex deterministic optimization problem, while the second stage is modeled as a Markov decision process solved by an entropy-regularized deep reinforcement learning method, i.e., the Soft Actor-Critic. The Soft Actor-Critic method can efficiently address the exploration–exploitation dilemma and suppress variations. This improves the robustness of decisions. Simulation results demonstrate that different types of energy storage devices can be used at two stages to achieve the multi-timescale coordinated operation. This proves the effectiveness of the proposed method.     

含双馈风电场的互联电力系统虚拟惯量与虚拟阻尼协调控制方法

风电场的大规模接入会同时降低互联电力系统的相对惯性和阻尼,虚拟同步发电机(VSG)技术能够有效支撑电网频率,目前对VSG技术虚拟阻尼方面的研究成果较少。为了更有效地利用VSG虚拟阻尼,进一步提升高风电渗透率电力系统的稳定性,推导了VSG控制器参数与虚拟惯量、虚拟阻尼之间的数学关系,针对VSG虚拟惯量与虚拟阻尼调节存在的矛盾,提出一种结合系统主导振荡模式在线辨识和粒子群优化算法的VSG控制器参数协调控制策略。最后通过含双馈风电场的两区域互联电力系统仿真模型验证了所提控制策略的有效性,仿真结果表明所提控制策略可实现系统频率稳定性和功率稳定性的综合优化。     

面向逆变器并联的虚拟振荡器控制技术综述

虚拟振荡器控制作为继下垂控制和虚拟同步机控制之后提出的新型多逆变器无互联线并联技术,因其独特的自同步机制和快速的动态响应性能等特点而成为当前的研究热点。从控制结构、多机同步运行机制和动力学特性方面论述了虚拟振荡器的控制原理;从功率控制策略、小信号稳定性、新型虚拟振荡器方案3个方面对虚拟振荡器控制技术的研究现状进行了全面综述;分析并总结了虚拟振荡器控制与下垂控制、虚拟同步机控制的对比研究。结合目前虚拟振荡器控制面临的若干关键问题,对未来研究方向和可能的相关解决思路进行了探讨。     

虚拟仪器在电机振动分析测控系统中的应用

介绍了基于虚拟仪器技术所构建的电机振动分析测控平台。该测控平台主要由数据采集模块、振动频谱分析模块、控制模块等部分构成。数据采集模块能够实时采集电机运行过程中的振动信号;通过振动频谱分析模块可对所采集的电机振动数据进行功率谱分析、谐波分析、STFT时频谱图分析等;测控平台中的控制模块可调用不同的控制算法,为电机在不同控制律下的振动情况研究提供了方便。测试实验结果表明,该测控平台可以有效地实现电机调速控制、振动数据采集与分析。     

逆变器无线并联虚拟阻抗分析

逆变器无线并联提高了分布式供电系统的可靠性和灵活性,其控制原理为PQ下垂法。传统PQ下垂法基于逆变器并联理想等效模型,各逆变模块参数完全一致,而实际系统中由于器件参数与输出线路阻抗不一致,导致各模块等效输出阻抗不同,造成模块间环流。在系统中加入自校正虚拟阻抗,校正输出阻抗特性,进一步满足等效内阻抗与下垂控制策略间耦合控制关系,进而减小模块间环流。仿真结果证实加入虚拟阻抗后,系统具有良好的均流性能。     

一种基于方向元件的微网保护控制方案

随着新能源利用的不断提高,微电网受到了越来越多的关注。在微网孤岛运行结构特点研究基础上,提出了一种基于负序方向元件的微网孤岛运行保护方案。该方案只需比较保护安装处的负序电压与电流的相角差即可判别故障方向,且具有很好的抗过渡电阻能力。基于PSCAD/EMTDC搭建的仿真模型验证了结论的正确性。     

直流微网储能DC/DC变换器的自适应虚拟直流电机控制

电力电子化的直流微电网自身缺乏惯性,当功率发生波动时,直流母线电压会产生较大突变,不利于其稳定运行。为了解决这一问题,虚拟直流电机控制被应用于直流变换器中来模拟直流电机的外特性,进而为直流微电网提供惯性支撑。但传统参数固定的虚拟直流电机控制在提供惯性的同时会牺牲系统的动态响应速度。针对这一问题,提出了参数自适应虚拟直流电机控制,并将它应用于储能端推挽式DC/DC变换器中。建立了系统的小信号模型,分析了转动惯量参数变化对系统的影响,并给出了参数的自适应调节原则。最后,搭建了仿真模型对不同控制方法进行了对比分析。仿真结果表明所提控制策略在为系统提供较大惯性支撑的同时,系统仍具有较快的动态响应速度。     

基于改进模型预测的并网变换器自适应虚拟惯性控制策略研究

针对低惯性直流微电网中母线电压易受网内功率波动影响的问题,提出了一种基于改进模型预测的直流微电网并网变换器自适应虚拟惯性控制策略。首先,电压外环引入自适应类虚拟同步发电机控制,通过将控制方程中的虚拟惯性参数与电压变化率结合起来,实现虚拟惯性参数的灵活可调。其次,在电流内环引入模型预测控制,并采用改进延时补偿算法,实现对给定电流值快速跟踪的同时改善控制系统的动态特性。最后,基于Matlab/Simulink建立了系统模型进行仿真。结果表明,与传统的虚拟惯性控制策略相比较,所提控制策略下的直流母线电压波动幅值更小且动态性能更佳,可以有效提高直流母线电压的稳定性和直流微电网的惯性。     

虚拟电厂背景下的空调负荷控制策略

在虚拟电厂背景下,提出一种供需互动的空调控制策略。利用入户能量管理装置对用户房间温度进行预测,并计算入户能量管理装置控制的负荷可调容量。各入户能量管理装置将可调容量上报后,电网侧下发切负荷指令,入户能量管理装置接受指令,对其控制的空调负荷进行集中调控,最大限度保证用户舒适度的情况下,为电网侧提供大量可调容量。本文充分利用了虚拟发电厂技术,与物理端的入户能量管理装置结合,实现了大规模空调负荷的集中调控。     

基于虚拟直流机的直流微电网电压稳定控制策略

针对大量恒功率负荷接入直流微电网致使直流微电网失稳的问题,提出了一种基于虚拟直流机(VDCM)的直流微电网电压稳定控制策略。控制策略以储能双向DC/DC变流器为研究对象,基于直流电机原理,以电感电流为反馈量在传统下垂控制的基础上引入VDCM环节,增强系统阻尼,降低恒功率负荷对系统稳定性的影响。通过建立所提控制策略下的直流微电网小信号模型,利用阻抗匹配原则分析相关参数变化时系统的稳定性,并将其与传统的VDCM控制策略进行对比。最后,搭建仿真模型和硬件实验平台,验证所提控制策略的有效性。结果表明：所提控制策略使变流器具备了直流电机的惯量和阻尼特性,在提升系统稳定性的同时,也在一定程度上改善了系统动态响应性能,且其控制效果优于传统的VDCM控制策略。     

A weighted voltage model predictive control method for a virtual synchronous generator with enhanced parameter robustness

To address the problem of insufficient system inertia and improve the power quality of grid-connected inverters, and to enhance the stability of the power system, a method to control a virtual synchronous generator (VSG) output voltage based on model predictive control (MPC) is proposed. Parameters of the inductors, capacitors and other components of the VSG can vary as the temperature and current changes. Consequently the VSG output voltage and power control accuracy using the conventional MPC method may be reduced. In this paper, to improve the parameter robustness of the MPC method, a new weighted predictive capacitor voltage control method is proposed. Through detailed theoretical analysis, the principle of the proposed method to reduce the influence of parameter errors on voltage tracking accuracy is analyzed. Finally, the effectiveness and feasibility of the proposed method are verified by experimental tests using the Typhoon control hardware-in-the-loop experimental platform.