One of the most important issues in storage and transport processes is the formation of unit loads. Our main goal is to investigate the homogenization of unit load formation cases. We provide a model involving the maj...One of the most important issues in storage and transport processes is the formation of unit loads. Our main goal is to investigate the homogenization of unit load formation cases. We provide a model involving the major factors and parameters for the optimal selection of the unit load formations. Objective functions and constraints related to the basic tasks are formulated. We give a method for the selection of the optimal unit load formation equipment for a given number of products under given constraints.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
Northern China has rich wind power and photovoltaic renewable resources. Combined Heat and Power (CHP) Units to meet the load demand and limit its peaking capacity in winter, to a certain extent, it results in structu...Northern China has rich wind power and photovoltaic renewable resources. Combined Heat and Power (CHP) Units to meet the load demand and limit its peaking capacity in winter, to a certain extent, it results in structural problems of wind-solar power and thermoelectric. To solve these problems, this paper proposes a plurality of units together to ensure supply of heat load on the premise, by building a thermoelectric power peaking considering thermal load unit group dynamic scheduling model, to achieve the potential of different thermoelectric properties peaking units of the excavation. Simulation examples show, if the unit group exists obvious relationship thermoelectric individual differences, the thermal load dynamic scheduling can be more significantly improved overall performance peaking unit group, effectively increase clean energy consumptive.展开更多
The anti-overturning ability and structure safety of jack-up unit in in-place condition are often affected by environment loads, especially wind load. According to the MODU rule, the projected area method is used for ...The anti-overturning ability and structure safety of jack-up unit in in-place condition are often affected by environment loads, especially wind load. According to the MODU rule, the projected area method is used for calculating the wind load. However, the calculated results are conservative and not good for structure optimization design. In this paper, a 400 ft jack-up is studied as an example. Based on the wind tunnel test and numerical simulation method, some key points of wind load calculation, such as shielding effect, lift effect and shape coefficient of component, are discussed. The study shows that the points mentioned above, which are ignored in the MODU rule calculation, result in the conservative result.展开更多
The hydro unit economic load dispatch （ELD） is of great importance in energy conservation and emission reduction. Dynamic programming （DP） and genetic algorithm （GA） are two representative algorithms for solving...The hydro unit economic load dispatch （ELD） is of great importance in energy conservation and emission reduction. Dynamic programming （DP） and genetic algorithm （GA） are two representative algorithms for solving ELD problems. The goal of this study was to examine the performance of DP and GA while they were applied to ELD. We established numerical experiments to conduct performance comparisons between DP and GA with two given schemes. The schemes included comparing the CPU time of the algorithms when they had the same solution quality, and comparing the solution quality when they had the same CPU time. The numerical experiments were applied to the Three Gorges Reservoir in China, which is equipped with 26 hydro generation units. We found the relation between the performance of algorithms and the number of units through experiments. Results show that GA is adept at searching for optimal solutions in low-dimensional cases. In some cases, such as with a number of units of less than 10, GA＇s performance is superior to that of a coarse-grid DP. However, GA loses its superiority in high-dimensional cases. DP is powerful in obtaining stable and high-quality solutions. Its performance can be maintained even while searching over a large solution space. Nevertheless, due to its exhaustive enumerating nature, it costs excess time in low-dimensional cases.展开更多
In this paper, a multiple population genetic algorithm (MPGA) is proposed to solve the problem of optimal load dispatch of gas turbine generation units. By introducing multiple populations on the basis of Standard Gen...In this paper, a multiple population genetic algorithm (MPGA) is proposed to solve the problem of optimal load dispatch of gas turbine generation units. By introducing multiple populations on the basis of Standard Genetic Algorithm (SGA), connecting each population through immigrant operator and preserving the best individuals of every generation through elite strategy, MPGA can enhance the efficiency in obtaining the global optimal solution. In this paper, MPGA is applied to optimize the load dispatch of 3×390MW gas turbine units. The results of MPGA calculation are compared with that of equal micro incremental method and AGC instruction. MPGA shows the best performance of optimization under different load conditions. The amount of saved gas consumption in the calculation is up to 2337.45m3N/h, which indicates that the load dispatch optimization of gas turbine units via MPGA approach can be effective.展开更多
In this paper, three rock types including Sandstone, Mudstone, and Crystalline Gypsum were part of a laboratory study conducted to develop a dataset for predicting the unconfined compressive strength of UAE intact sed...In this paper, three rock types including Sandstone, Mudstone, and Crystalline Gypsum were part of a laboratory study conducted to develop a dataset for predicting the unconfined compressive strength of UAE intact sedimentary rock specimens. Four hundred nineteen rock samples from various areas along the coastal region of the UAE were collected and tested for the development of this dataset and evaluation of models. From the statistical analysis of the data, regression equations were established among rock parameters and correlations were expressed and compared by the ones proposed in literature.展开更多
Both the modeling and the load regulation capacity prediction of a supercritical power plant are investigated in this paper. Firstly, an indirect identification method based on subspace identification method is propos...Both the modeling and the load regulation capacity prediction of a supercritical power plant are investigated in this paper. Firstly, an indirect identification method based on subspace identification method is proposed. The obtained identification model is verified by the actual operation data and the dynamic characteristics of the system are well reproduced. Secondly, the model is used to predict the load regulation capacity of thermal power unit. The power, main steam pressure, main steam temperature and other parameters are simulated respectively when the unit load is going up and down. Under the actual constraints, the load regulation capacity of thermal power unit can be predicted quickly.展开更多
远程终端单元(remote terminal unit, RTU)是当前电网中最主要的测量终端,但是其量测量没有统一时标,更新频率低,而且存在不确定性的传输时延。而同步相量测量单元(phasor measurement unit, PMU)具有高同步、高精度等特点,成为电力系...远程终端单元(remote terminal unit, RTU)是当前电网中最主要的测量终端,但是其量测量没有统一时标,更新频率低,而且存在不确定性的传输时延。而同步相量测量单元(phasor measurement unit, PMU)具有高同步、高精度等特点,成为电力系统中重要的数据采集装置。为协调利用这两种测量数据,首先归纳出RTU量测非同步的来源,分析了量测数据不同步对状态估计和潮流计算的影响,并给出了相关的验证结果。并提出基于能量交互算子的量测数据相关性分析方法。该方法应用同步数据间相关性最大的原理,利用PMU所产生的精确数据来同步RTU数据,为混合测量系统确定测量基准时刻。通过对IEEE39节点电网和广东83节点实际电网的仿真,结果表明该方法能有效校正量测数据非同步以及改善状态估计和潮流计算精度。展开更多
文摘One of the most important issues in storage and transport processes is the formation of unit loads. Our main goal is to investigate the homogenization of unit load formation cases. We provide a model involving the major factors and parameters for the optimal selection of the unit load formations. Objective functions and constraints related to the basic tasks are formulated. We give a method for the selection of the optimal unit load formation equipment for a given number of products under given constraints.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
文摘Northern China has rich wind power and photovoltaic renewable resources. Combined Heat and Power (CHP) Units to meet the load demand and limit its peaking capacity in winter, to a certain extent, it results in structural problems of wind-solar power and thermoelectric. To solve these problems, this paper proposes a plurality of units together to ensure supply of heat load on the premise, by building a thermoelectric power peaking considering thermal load unit group dynamic scheduling model, to achieve the potential of different thermoelectric properties peaking units of the excavation. Simulation examples show, if the unit group exists obvious relationship thermoelectric individual differences, the thermal load dynamic scheduling can be more significantly improved overall performance peaking unit group, effectively increase clean energy consumptive.
基金supported by the National Natural Science Foundation of China(Grant No.51079034)the Fundamental Research Funds for the Central Universities(Grant No.HEUCFR1003)
文摘The anti-overturning ability and structure safety of jack-up unit in in-place condition are often affected by environment loads, especially wind load. According to the MODU rule, the projected area method is used for calculating the wind load. However, the calculated results are conservative and not good for structure optimization design. In this paper, a 400 ft jack-up is studied as an example. Based on the wind tunnel test and numerical simulation method, some key points of wind load calculation, such as shielding effect, lift effect and shape coefficient of component, are discussed. The study shows that the points mentioned above, which are ignored in the MODU rule calculation, result in the conservative result.
基金supported by the National Basic Research Program of China(973 Program,Grant No.2013CB036406)the National Natural Science Foundation of China(Grant No.51179044)the Research Innovation Program for College Graduates in Jiangsu Province of China(Grant No.CXZZ12-0242)
文摘The hydro unit economic load dispatch （ELD） is of great importance in energy conservation and emission reduction. Dynamic programming （DP） and genetic algorithm （GA） are two representative algorithms for solving ELD problems. The goal of this study was to examine the performance of DP and GA while they were applied to ELD. We established numerical experiments to conduct performance comparisons between DP and GA with two given schemes. The schemes included comparing the CPU time of the algorithms when they had the same solution quality, and comparing the solution quality when they had the same CPU time. The numerical experiments were applied to the Three Gorges Reservoir in China, which is equipped with 26 hydro generation units. We found the relation between the performance of algorithms and the number of units through experiments. Results show that GA is adept at searching for optimal solutions in low-dimensional cases. In some cases, such as with a number of units of less than 10, GA＇s performance is superior to that of a coarse-grid DP. However, GA loses its superiority in high-dimensional cases. DP is powerful in obtaining stable and high-quality solutions. Its performance can be maintained even while searching over a large solution space. Nevertheless, due to its exhaustive enumerating nature, it costs excess time in low-dimensional cases.
文摘In this paper, a multiple population genetic algorithm (MPGA) is proposed to solve the problem of optimal load dispatch of gas turbine generation units. By introducing multiple populations on the basis of Standard Genetic Algorithm (SGA), connecting each population through immigrant operator and preserving the best individuals of every generation through elite strategy, MPGA can enhance the efficiency in obtaining the global optimal solution. In this paper, MPGA is applied to optimize the load dispatch of 3×390MW gas turbine units. The results of MPGA calculation are compared with that of equal micro incremental method and AGC instruction. MPGA shows the best performance of optimization under different load conditions. The amount of saved gas consumption in the calculation is up to 2337.45m3N/h, which indicates that the load dispatch optimization of gas turbine units via MPGA approach can be effective.
文摘In this paper, three rock types including Sandstone, Mudstone, and Crystalline Gypsum were part of a laboratory study conducted to develop a dataset for predicting the unconfined compressive strength of UAE intact sedimentary rock specimens. Four hundred nineteen rock samples from various areas along the coastal region of the UAE were collected and tested for the development of this dataset and evaluation of models. From the statistical analysis of the data, regression equations were established among rock parameters and correlations were expressed and compared by the ones proposed in literature.
文摘Both the modeling and the load regulation capacity prediction of a supercritical power plant are investigated in this paper. Firstly, an indirect identification method based on subspace identification method is proposed. The obtained identification model is verified by the actual operation data and the dynamic characteristics of the system are well reproduced. Secondly, the model is used to predict the load regulation capacity of thermal power unit. The power, main steam pressure, main steam temperature and other parameters are simulated respectively when the unit load is going up and down. Under the actual constraints, the load regulation capacity of thermal power unit can be predicted quickly.
文摘远程终端单元(remote terminal unit, RTU)是当前电网中最主要的测量终端,但是其量测量没有统一时标,更新频率低,而且存在不确定性的传输时延。而同步相量测量单元(phasor measurement unit, PMU)具有高同步、高精度等特点,成为电力系统中重要的数据采集装置。为协调利用这两种测量数据,首先归纳出RTU量测非同步的来源,分析了量测数据不同步对状态估计和潮流计算的影响,并给出了相关的验证结果。并提出基于能量交互算子的量测数据相关性分析方法。该方法应用同步数据间相关性最大的原理,利用PMU所产生的精确数据来同步RTU数据,为混合测量系统确定测量基准时刻。通过对IEEE39节点电网和广东83节点实际电网的仿真,结果表明该方法能有效校正量测数据非同步以及改善状态估计和潮流计算精度。
