Real-Time Estimation of Travel Times Along the Arcs and Arrival Times at the Nodes of Dynamic Stochastic Networks

Route planning in uncertain and dynamic networks has recently emerged as an active and intense area of research, both due to industry needs and technological advances. This paper investigates methods to predict travel times along the arcs and estimate arrival times at the nodes of a stochastic and dynamic network in real time. It is shown that, under fairly mild conditions, the developed travel and arrival time estimators are unbiased and that the error variance of the arrival time estimator is bounded. Simulation results are used to demonstrate the efficiency of the proposed algorithm.     

基于差值矩阵的多端输电线路故障定位研究

针对现有多端输电线路故障行波检测困难、定位精度不高、判定算法复杂等问题,提出一种基于变分模态分解(VMD)算法和Hilbert变换相结合的行波检测法和一种基于差值矩阵的多端输电线路故障行波定位算法。首先通过行波传感器采集故障行波信号,利用VMD分解算法对故障行波进行分解,结合Hilbert变换提取模态分量IMF1的瞬时频率,根据第一个瞬时频率的奇异点位置确定故障行波的达到时刻。然后利用行波到达各端的时间和行波传输原理,得到多端输电线路故障分支判定矩阵。最后根据故障分支判定矩阵确定故障支路,实现故障点的精确定位。ATP/EMTP仿真结果表明,所提检测方法能够准确检测故障初始行波的到达时间,多端输电线路定位算法能够准确判定故障支路,相比于HHT检测方法下的定位算法,进一步提高了定位精度。     

基于整个电网行波时差的故障定位方法

在分析电网故障行波传输特性的基础上提出了一种基于整个电网行波时差的故障定位方法。该方法在整个输电网中的部分变电站安装行波定位装置,线路故障后各行波定位装置检测并记录初始行波的到达时间,由主站根据整个网络中所有初始行波到达时间和线路长度来辨别有效行波时间,并根据所有有效行波时间来进行综合故障定位。与基于单条线路故障信息的行波定位不同,该方法在故障线路端定位装置故障、启动失灵或记录错误时间后仍能可靠定位。理论分析和仿真结果表明,该方法可以在使用较少的行波定位装置的情况下对电网中所有输电线路进行可靠、准确的故障定位,有助于进一步提高行波故障定位的可靠性和经济性。     

Dynamic optimal route search algorithm for car navigation systems with preferences by dynamic programming

Optimal route search to the destination is one of the most important functions of car navigation devices. The development of road traffic infrastructure has made it possible to receive real‐time information of the traffic situation. Route search algorithms for car navigation devices make use of this information to avoid the traffic congestions. Such algorithms should find the new optimal route efficiently when the traffic situation changes. Usually, the minimum traveling time or distance is considered to define the optimal route. However, the minimum traveling time or distance is not always what the user is looking for. The user may prefer to travel on a certain route even at the cost of traveling time or distance. Car navigation devices should consider such preferences when finding the optimal route. In this paper, we propose a dynamic programming algorithm to find the optimal route considering that it should deal with the changes of the traffic situation and multiple criteria. The proposed method uses the information from the previous computation to find the new optimal route considering user preferences when the traveling time of the road section changes. The proposed method was applied to a real road network to find the optimal route. Results show that the proposed method can find the user‐preferred optimal route. Simulation results also show better calculation time of the proposed method compared to the Dijkstra algorithm. Copyright © 2010 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Power grid fault traveling wave network protection scheme

Based on study on propagation characteristics of traveling wave in transmission lines, a novel power grid fault traveling wave network protection scheme was proposed in this paper. When a line fault occurs, all traveling wave protection relays (TWPR) record arrival time of initial traveling wave using the precise timing signals from Global Positioning System (GPS). Then the ineffective arrival time of initial traveling wave is eliminated and modified, while the effective arrival time of initial traveling wave is utilized to detect the fault line. Different from the traditional protection schemes, which are only based on fault information of one line, the proposed scheme not only solves the problems of traveling wave protection, which are susceptible to the factors (such as the structure of the lines), but also can make reliable tripping action when one or more TWPRs break down, start-up failure or record wrong arrival time of initial traveling wave. Both theoretical analysis and simulations indicate that the protection method has high reliability, and redounds to further enhancing the practicability of traveling wave protection.     

Algorithms for Itinerary Planning in Multimodal Transportation Networks

The itinerary planning problem in an urban public transport system constitutes a common routing and scheduling decision faced by travelers. The objective of this paper is to present a new formulation and an algorithm for solving the itinerary planning problem, i.e., determination of the itinerary that lexicographically optimizes a set of criteria (i.e., total travel time, number of transfers, and total walking and waiting time) while departing from the origin and arriving at the destination within specified time windows. Based on the proposed formulation, the itinerary planning problem is expressed as a shortest path problem in a multimodal time-schedule network with time windows and time-dependent travel times. A dynamic programming-based algorithm has been developed for the solution of the emerging problem. The special case of the problem involving a mandatory visit at an intermediate stop within a given time window is formulated as two nested itinerary planning problems which are solved by the aforementioned algorithm. The proposed algorithm has been integrated in a Web-based journey planning system, whereas its performance has been assessed by solving real-life itinerary planning problems defined on the Athens urban public transport network, providing fast and accurate solutions.     

输电网行波网络保护方法

在研究行波在电网中传播特性的基础上,提出了一种新型输电网行波网络保护方法,该方法在线路故障后利用电网中所有行波保护继电器记录的初始行波到达时间来剔除无效行波时间数据,并修正部分无效初始行波到达时间,进而利用有效初始行波到达时间来判断故障线路。这一保护方法综合利用了电网中所有线路的初始行波到达时间信息,不但解决了行波保护易受线路结构等因素影响的问题,而且在某一行波保护继电器故障、启动失灵或时间记录错误后仍能可靠动作。分析和仿真结果表明,该保护方法原理可行、实现简单、可靠性高,有助于进一步提高行波保护的实用性。     

基于信息融合的故障行波定位网络算法

提出一种基于整个输电网行波信息的故障定位算法.通过分析故障行波到达电网中各变电站的时间关系,运用最短路径原则将复杂的输电网络简化成无环网的辐射型网络,将远端变电站记录的初始行波到达时间折算为故障线路出口侧变电站的初始行波到达时间.通过剔除无效时间数据,并对所有折算得到的有效初始行波到达时间进行融合处理,实现基于整个输电网的故障行波定位.该算法有效解决了电网中某台行波定位装置时间记录不准确或故障导致的故障定位失败问题.仿真结果表明,该算法具有较高的可靠性、准确性,绝对误差不超过100 m.     

LCC-VSC混合直流输电线路的组合型单端故障定位方法

电网换相换流器—电压源换流器(LCC-VSC)混合直流输电线路中的故障行波传播特性有别于常规直流和柔性直流的输电线路。文中针对混合直流输电线路分析了行波折反射过程及两端边界反射角的频变特性,确定了单端法故障定位装置的合理安装侧,提出了一种组合型单端故障定位新原理。首先,利用定位精度略低的固有频率法进行故障位置初测,以此粗略计算故障点第1次反射波的大致到达时刻。然后,再利用故障点反射波与对端母线反射波的波到达时刻的对称性质在行波传播时序图中匹配找到这2种反射波的精准波到达时刻。最后,根据初始行波、故障点第1次反射波和对端母线第1次反射波到达时刻实现故障定位。仿真实验表明,固有频率法的引入有效避免了由于无法准确区分故障点第1次反射波与对端母线第1次反射波所带来的定位误差,所提方法在LCC-VSC混合直流输电系统中能实现较准确的故障定位。     

基于多模量行波分量相位关系的输电线路单相接地故障定位

为了充分利用模量行波首波头相位信息,克服传统模量行波首波头辨识方法的误差,基于模量行波在输电线路上传播时的畸变特性和色散效应,提出利用双端测量点零模和线模电压行波首波头中同一高频分量相位关系进行单相接地故障定位。所提方法无需双端精确同步,也不依赖于模量行波到达时刻和波速信息。利用PSCAD搭建输电线路模型并进行故障仿真,仿真结果表明了所提方法的有效性与可靠性。     

直流输电线路行波测距的误差机理及改进策略

针对目前直流输电线路行波测距精确度较低的问题,对测距误差的产生机理和典型的直流行波测距原理进行分析,指出波头到达时间的标定和行波波速的选取是影响直流行波测距精确度的两个关键因素;通过行波测距的误差计算公式的推导,明确了波头到达时间的标定误差和行波波速选取误差对测距精度的影响规律。以天广直流线路工程为例,分别探讨了波头到达时间的标定和波速选取中存在的问题,并提出了相应的改进策略,仿真结果验证了分析结论和改进策略的有效性。     

车联网环境下电动汽车主动充电引导模型

为了适应电动汽车数量和充电需求的急剧增长,从电动汽车用户视角出发,提出了一种在车联网环境下基于改进A*路径规划算法与排队论的电动汽车主动充电引导模型。首先,融入红绿灯等待时间和不走回头路条件,改进A*路径规划算法,利用实际路网状态信息更新路网时空状态矩阵,实时优化电动汽车行驶路径,获取电动汽车充电行驶时间。其次,利用深度置信网络预测充电站电动汽车短时到达量,基于排队论M/G/k模型预测电动汽车充电等待时间。最后,以最小化电动汽车充电行驶时间和充电等待时间为目标,搭建电动汽车主动充电引导模型。以中国南京市中心区域为算例,验证了所提主动充电引导模型的有效性,所提算法能够提高充电桩的利用率并减少电动汽车用户综合充电时间。     

基于波速补偿故障距离逐步逼真的直流线路行波测距方法

为解决小波变换奇异点检测技术应用于直流线路行波测距时对行波波头标定存在的适应性问题以及行波波头到达时刻与行波波速难以有机统一的问题,提出改进方案.对于行波波头的标定,采用对不同故障信号具有完全自适应分解能力的改进的希尔伯特-黄变换,利用高频突变的峰值频点标定行波波头.对于行波波头到达时刻与行波波速难以有机统一的问题,提...     

考虑强非线性和波速变化特性的特高压直流输电线路故障测距方法

特高压直流输电系统具有强非线性。采用小波变换方法的传统直流输电线路行波测距原理在实际工程中存在适应性问题。现阶段行波测距技术存在行波到达时刻与行波波速难以有机统一的问题。针对此问题,提出一种考虑强非线性系统和波速变化特性的特高压直流输电直流线路故障测距方法。从测距方法的适应性角度出发,提出非常适合暂态信息处理的改进的希尔伯特-黄算法,利用该算法可准确标定故障初始行波波头。从测距精度角度出发,分析故障行波波速变化特性,发现线路参数的频变特性和行波波头的衰减造成行波波速与故障距离呈非线性关系。据此提出神经网络算法,利用该算法将不必计算行波波速便能实现故障测距。大量仿真结果表明,该测距方法在不同故障距离和不同过渡电阻下的测距精度较高,鲁棒性较好。     

基于改进自适应遗传算法的EV充电站动态规划

建立了综合充电站、电动汽车(EV)用户与配电网多方利益的快速充电站规划模型,考虑EV保有量增长的影响,同时计及EV增长率的不确定性,构建了2种EV充电站随机机会约束动态规划模型,并提出考虑充电需求空间分布的改进自适应遗传算法(IAGA)求解上述规划模型。通过一个实际算例验证了所提IAGA在求解充电站规划问题时的可行性与有效性,并对比分析了2种动态规划模型的规划结果。     

基于ARIMA的矿山电网故障暂态行波波头辨识及故障测距

由于矿山电网含有大量的整流设备及非线性负载,运行时含有稳定的高次谐波分量和高频噪声,同时矿山电网多为短距离线路,故障后产生的暂态信号与原有高次谐波混叠严重,给行波故障测距带来了极大的困难。通过分析矿山电网故障行波的时域特征,提出基于整合移动平均自回归模型(ARIMA)对行波波头到达前的高频周期信号进行预测,并结合波头到达时刻的真实波形得到波形残差,同时对残差进行平稳性校验,通过行波波头到达时刻前后残差平稳性的不同确定准确的波头到达时刻,进而实现行波故障测距。利用低压电缆网络仿真实现矿山电网故障,仿真结果表明:与小波变换与经验模态分解相比,所提方法能够准确辨识行波波头,且不易受故障状况和噪声的影响,能有效提升行波可行性及精度,尤其适用于含有整流设备及非线性负载矿山电网故障测距。     

Multi-robot exploration mission planning and stochastic increment replanning for load balance

Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this paper. Multi-robot exploration missions adopts fuzzy c-mean (FCM) algorithm to allocate, and then, heterogeneous interactive cultural hybrid algorithm (HICHA) is devised for route planning in order to optimize mobile-robot execution path. Meanwhile, we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment missions. Finally, extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission planning. Furthermore, the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.     

基于网络的故障行波定位算法

为了解决电网故障双端行波定位中任一定位装置故障、启动失灵或时间记录错误等导致的定位失败难题,提出了基于网络的故障行波定位算法,根据电网中故障行波到达各变电站的精确时间和行波传输的最短路径进行综合定位计算。运用Floyd算法计算电网的最短路径矩阵,匹配行波波头到达各变电站的精确时间;分析不经过故障线路的最短路径,在线计算行波传播速度;并寻找经过故障线路的最短路径,在线计算故障点位置;为每个变电站设置权重,对所有不同路径的计算结果加权求和,得到故障点的精确位置。EMTP仿真分析和现场运行结果表明,该定位算法误差小于150 m,可靠性高、鲁棒性强,较好地满足了电网运行要求。     

基于二分法的配电网分段开关优化配置

配电网分段开关的优化配置是一个需要同时考虑经济性和可靠性的非线性组合优化问题。针对该问题,提出了一种确定配电网分段开关最佳数量和安装位置的双层优化规划方法。该方法采用的目标函数综合考虑了开关的年投资费用、年运行维修费用和用户停电损失费用;外层优化针对不同的开关数量采用二分法逐步向最佳开关数量逼近;内层优化在给定开关数量下采用缺供电量作为评价指标,对开关安装位置进行优化。将该方法应用于IEEE RBTS-BUS2及其他配电系统,取得了较好的结果,为配电网规划和改造提供了一种有效的分析工具。     

自适应网络结构的故障行波定位方法

输电网中环路的存在会影响故障初始行波到达时间与行波传输路径的匹配,影响故障点位置的计算.为此,提出了一种自适应网络结构的故障行波定位方法.对于故障线路不包含于环路的情况,利用Floyd算法搜索故障点到网络中各节点的最短路径;对于故障线路包含于环路的情况,确定环路中初始行波到达时间最大的节点为解环点,并提出了剔除无效路径的时间判据,将复杂故障网络简化为辐射形网络.在辐射形网络中,运用基于整个电网的故障行波定位算法,实现全网综合定位.仿真结果表明,该方法实现简单,适用于任何结构的电网,能够有效弥补现有行波网络定位算法的缺陷和不足.