考虑风电与高载能负荷调度不确定性的鲁棒机组组合

为缓解弃风问题,甘肃等电网开展了高载能负荷与风电的协调调度。然而,以电弧炉为代表的冶炼类高载能负荷在运行时存在有功功率波动,会对电网的自动发电控制(AGC)系统产生影响。为研究高载能负荷功率波动对负荷与风电协调调度的影响,文中提出一种考虑高载能负荷功率波动以及风电不确定性的鲁棒机组组合方法。该方法充分考虑高载能负荷有功功率波动与设备运行状态的关系,对负荷有功功率的不确定性进行建模。接着,考虑高载能负荷与风电协调调度时,负荷不确定性与风电不确定性对电力系统共同作用的特点,构建最小化弃风与切负荷风险的鲁棒机组组合模型,使电网对高载能负荷进行调控时,可充分考虑高载能负荷不确定性的影响。最后,在IEEE RTS-79系统中对所提方法进行了验证,并分析了高载能负荷不确定性对协调调度的影响。     

Adaptive backstepping control for an n-degree of freedom robotic manipulator based on combined state augmentation

The aim of this paper is to improve the tracking performance of a robotic manipulator by designing an adaptive controller and implementing it on the system. The proposed controller guarantees the system stability as well as good tracking performance in existence of nonlinearity and parameter uncertainties. The requirement to decrease the system response overshoot and steady state error as well as increasing speed of tracking for manipulators is essential to many manufacturers. To this mean, in this paper, the tracking error equations for an n-DOF manipulator are derived and the response characteristics are improved by augmenting a new state to the system equations. The stability of the closed-loop system is guaranteed based on the Lyapunov theory via backstepping control approach. The robotic manipulator model contains parametric uncertainties and many of the parameter values are unknown. To solve the problem, an adaption law is proposed via adaptive backstepping mechanism. Different experiments are carried out for a 2-DOF manipulator to show the effectiveness of the proposed approach and the results are compared with four of the recently revealed researches on control. Experimental results present the superiority of the state augmented adaptive backstepping in tracking the desired joint angles. Moreover, in order to present the industrial application of the proposed control method, it is simulated for a large industrial Scara manipulator.     

Long-time simulation of water distribution systems for the design of small hydropower systems

The implementation of small hydropower systems (SHPS) in existing Alpine Water distribution systems (WDS) is a meaningful strategy for the reduction of CO₂ emissions. Typically, the water consumption patterns of one or several representative days are used for the design procedure of these systems. For the design of the SHPS in WDS, the most important issue is to preserve the water supply without constraints. However, regarding water quality issues (especially related to water age), SHPS can exert a positive influence on the WDS performance. In this study, a long-time simulation model (10 years) is established for a WDS model and is subsequently used for the design of the SHPS. This study is performed to establish a more efficient design of these systems and to evaluate the long-term effects on the pressure and water quality issues, i.e., water age. With a simulation time over one decade on an hourly basis, full load hours and water flows for different turbine sizes are determined in detail. Based on that information, the detailed design and optimisation of the SHPS were performed, and the most cost-efficient device size was determined.     

Buoyancy effects on the laminar boundary layer heat transfer along vertically moving cylinders

Abstract

The effects of buoyancy forces on the laminar boundary layer flow and heat transfer along vertically moving cylinders are analyzed for the cases of prescribed surface temperature and prescribed wall heat flux in power of streamwise distance. Local similarity solutions are obtained to show the effects of buoyancy parameters and the transverse curvature of the cylinder on the surface friction and heat transfer rate.     

An adaptive control scheme using multiple reference models

This paper develops an extended model reference adaptive control scheme to expand the capacity of state feedback state tracking adaptive control to handle the plant‐model matching uncertainties for single‐input LTI systems. The extended scheme is developed, using multiple reference model systems (only one of which is required to be able to match the controlled plant), and multiple controllers (which are updated from adaptive laws generated from multiple reference model systems based estimation errors), as two key features of such design to relax a plant‐model matching condition. A switching mechanism is constructed using those multiple estimation errors, capable of selecting the suitable control input from the multiple control signals, to achieve the desired system performance. An aircraft flight control example is presented to show the capacity of such design in relaxing a practical design condition. Copyright © 2013 John Wiley & Sons, Ltd.     

Taguchi-factorial type-2 fuzzy random optimization model for planning conjunctive water management with compound uncertainties

In this study, a type-2 fuzzy random optimization (TFRO) method is developed for planning conjunctive water management system associated with compound uncertainties. TFRO can effectively address compound uncertainties expressed as type-2 fuzzy sets, probability distributions, and type-2 fuzzy random variables. Solution algorithm based on the degree of probability and the information of plausibility is proposed to transform nonlinear objective function and constraints into their linear equivalents. A real case of water-resources allocation problem in Zhangweinan River Basin (China) is employed to demonstrate the applicability of the proposed method. A Taguchi-factorial type-2 fuzzy random model is also formulated through introducing Taguchi design and ANOVA technique into the TFRO framework. Results obtained can help reveal the relationship among multiple impact factors of economic, environmental and resource (water conveyance efficiency, water delivery cost, and system violation risk), as well as quantify their contributions to the variability of system benefit and water allocation schemes.     

Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory

Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method.     

Time–cost optimization: using GA and fuzzy sets theory for uncertainties in cost

Uncertainties should be considered in any time–cost trade‐off problems when minimizing project cost and duration, which leads to the so‐called stochastic time–cost trade‐off problem. A new approach to investigate stochastic time–cost trade‐off problems employing fuzzy logic theory is presented. The proposed approach fully embeds the fuzzy structure of the uncertainties in total direct cost into the model. An appropriate GA is used to develop a solution to the multi‐objective fuzzy time cost model. The accepted risk level of the project manager is defined through α cut approach for which a separate Pareto front with set of non‐dominated solutions has been developed. To compare the alternative set of options for any assumed project duration, associated fuzzy costs for different values of α cut are ranked employing two appropriate approaches for fuzzy costs comparison. The proposed models are applied to solve two benchmark test problems. It is shown that the models facilitate the decision‐making process by selecting specified risk levels and employing the associated Pareto front.     

Nonlinear unbiased minimum-variance filter for Mars entry autonomous navigation under large uncertainties and unknown measurement bias

High-precision navigation algorithm is essential for the future Mars pinpoint landing mission. The unknown inputs caused by large uncertainties of atmospheric density and aerodynamic coefficients as well as unknown measurement biases may cause large estimation errors of conventional Kalman filters. This paper proposes a derivative-free version of nonlinear unbiased minimum variance filter for Mars entry navigation. This filter has been designed to solve this problem by estimating the state and unknown measurement biases simultaneously with derivative-free character, leading to a high-precision algorithm for the Mars entry navigation. IMU/radio beacons integrated navigation is introduced in the simulation, and the result shows that with or without radio blackout, our proposed filter could achieve an accurate state estimation, much better than the conventional unscented Kalman filter, showing the ability of high-precision Mars entry navigation algorithm.     

考虑地基岩土参数不确定性的核电厂结构随机地震反应分析

在考虑土-结构相互作用(SSI)效应的情况下,引入随机地震反应分析方法,探讨地基岩土参数的不确定性对核电厂地震响应的影响.基于ANSYS程序,采用常数阻抗法,通过设置边界弹簧和阻尼来考虑地基土的作用,并通过设置弹簧和阻尼参数的不确定性,来模拟岩土动态参数的不确定性.针对某1000MW级压水堆核电站反应堆厂房结构,进行随机地震反应的数值仿真分析,并将随机反应结果与确定论分析结果进行了对比.结果表明,随机分析方法是确定论分析方法的有益补充,二者结合能更合理地反映参数的不确定性对结构地震响应的影响.