Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we ...Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we propose an adaptive manipulator control method based on a multi-joint fuzzy system,in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable.The control algorithm of the system is a MIMO(multi-input-multi-output)fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error.It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required.Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity,coupling and uncertainty.Therefore,the proposed algorithm has good practical application prospects and promotes the development of complex control systems.展开更多
This paper presents a multi-joint desensitization design(MDD)-based assembly distribution and precision evolution for industrial parallel robots.The optimization of a-UPS/S parallel robot is demonstrated through the o...This paper presents a multi-joint desensitization design(MDD)-based assembly distribution and precision evolution for industrial parallel robots.The optimization of a-UPS/S parallel robot is demonstrated through the optimization of its performance index and precision performance,achieved through the construction of a global error sensitivity.The precision degradation law for independent sources of uncertainty is introduced,and the accelerated degradation after multiple repairs is considered to establish a source-split maintenance yield model to formulate an optimized operation and maintenance strategy.Experiment demonstrates that the MDD method significantly enhances the precision and reliability of the equipment.Compared with that in the pre-optimization stage,the lifetime of the equipment is extended by 38.88%,while the cost remains unchanged.In addition,the effectiveness of MDD in additive manufacturing is demonstrated through an industrial bending pipe case.展开更多
随着分布式电源渗透率不断上升,多扰动耦合效应持续增强,新型配电网稳定性分析以及优化运行面临着巨大的挑战。对此,该文依据新型配电网节点电压方程建立多扰动耦合等值电路,并基于多扰动耦合等值电路的潮流可解性提出耦合电压稳定约束(...随着分布式电源渗透率不断上升,多扰动耦合效应持续增强,新型配电网稳定性分析以及优化运行面临着巨大的挑战。对此,该文依据新型配电网节点电压方程建立多扰动耦合等值电路,并基于多扰动耦合等值电路的潮流可解性提出耦合电压稳定约束(coupling voltage stability constraint,CVSC),以实现多扰动耦合影响下的电压稳定性量化约束;同时,通过Bonferroni不等式将CVSC和联合机会约束结合,提出耦合电压稳定联合机会约束(coupling voltage stability joint chance constraint,CVS-JCC);进一步,对CVS-JCC进行确定性转化,得到CVS-JCC的解析表达式,并提出考虑CVS-JCC的配电网优化运行方法,以提高配电网安全、稳定、经济运行能力;最后,通过浙江台州某配电网模型进行仿真实验,证明CVS-JCC的有效性以及不同场景下优化运行方法的先进性。展开更多
【目的】“双碳”背景下,节能降碳已成为保障国家能源安全与实现绿色转型的关键。油田联合站作为油气集输与处理的能耗“大户”,传统的“电网+燃气锅炉”供能模式成本高、排放大、韧性差等矛盾突出,亟需构建适应高比例可再生能源、季节...【目的】“双碳”背景下,节能降碳已成为保障国家能源安全与实现绿色转型的关键。油田联合站作为油气集输与处理的能耗“大户”,传统的“电网+燃气锅炉”供能模式成本高、排放大、韧性差等矛盾突出,亟需构建适应高比例可再生能源、季节调控能力强大的多能互补系统。【方法】针对油田联合站高耗能、高排放、高韧性风险的“三高”问题,提出了“风光-氢-储-荷”多能系统协同架构:将风光发电替代网购电,以电解制氢-储氢-燃料电池形成电-氢-电闭环,并利用热电联产机组、热泵、储热多源供热;创新性地将阶梯碳交易与价格/激励双重需求响应纳入统一优化模型,从经济、低碳、韧性多重目标对新建系统进行评价分析。【结果】基于混合整数线性规划(Mixed-integer Linear Programming,MILP)问题,设置了4种场景,以大庆油田某联合站为例分析表明:①与传统供能模式相比,含氢循环的多能互补系统能源利用效率提高了30%以上,年运行成本降低41.20%,碳排放强度下降2.10%,且可再生能源消纳率提升至90%以上;②阶梯碳交易通过递增碳价杠杆,使系统碳交易成本上升24.98%、碳排放量下降6.74%;③叠加需求响应后,可进一步降低碳排放1.30%、碳交易成本下降1.51%,实现减排与降本“双赢”;④氢能子系统作为跨时空调节器,在风光发电时段存储富余绿电,在负荷高峰或极端天气下则反向供电、供热,全年弃风弃光率控制在1%以内,显著增强供能韧性。经济性测算显示,在现行碳价与电解槽投资水平下,新建系统增量投资回收期为5~8年,若碳价低于80元/t、电解槽成本下降至2500元/kW以内,回收期可缩短至4年。【结论】研究成果已形成可复制的油田联合站供能低碳改造技术路线,有助于伴生气资源丰富、电热负荷稳定的老联合站提质增效,也可为高比例可再生能源新区块微网规划提供“电-热-氢”协同范式。展开更多
基金the project of science and technology of Henan province under Grant No.14210221036.
文摘Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we propose an adaptive manipulator control method based on a multi-joint fuzzy system,in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable.The control algorithm of the system is a MIMO(multi-input-multi-output)fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error.It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required.Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity,coupling and uncertainty.Therefore,the proposed algorithm has good practical application prospects and promotes the development of complex control systems.
基金funded by the China National Key Research and Development Project(Grant No.2022YFB3303303)Key Project of Zhejiang Provincial Natural Science Foundation(Grant No.Z26E050041)State Key Laboratory of Materials Processing and Die and Mold Technology Key Open Fund,China(Grant No.P2024-001).
文摘This paper presents a multi-joint desensitization design(MDD)-based assembly distribution and precision evolution for industrial parallel robots.The optimization of a-UPS/S parallel robot is demonstrated through the optimization of its performance index and precision performance,achieved through the construction of a global error sensitivity.The precision degradation law for independent sources of uncertainty is introduced,and the accelerated degradation after multiple repairs is considered to establish a source-split maintenance yield model to formulate an optimized operation and maintenance strategy.Experiment demonstrates that the MDD method significantly enhances the precision and reliability of the equipment.Compared with that in the pre-optimization stage,the lifetime of the equipment is extended by 38.88%,while the cost remains unchanged.In addition,the effectiveness of MDD in additive manufacturing is demonstrated through an industrial bending pipe case.
文摘随着分布式电源渗透率不断上升,多扰动耦合效应持续增强,新型配电网稳定性分析以及优化运行面临着巨大的挑战。对此,该文依据新型配电网节点电压方程建立多扰动耦合等值电路,并基于多扰动耦合等值电路的潮流可解性提出耦合电压稳定约束(coupling voltage stability constraint,CVSC),以实现多扰动耦合影响下的电压稳定性量化约束;同时,通过Bonferroni不等式将CVSC和联合机会约束结合,提出耦合电压稳定联合机会约束(coupling voltage stability joint chance constraint,CVS-JCC);进一步,对CVS-JCC进行确定性转化,得到CVS-JCC的解析表达式,并提出考虑CVS-JCC的配电网优化运行方法,以提高配电网安全、稳定、经济运行能力;最后,通过浙江台州某配电网模型进行仿真实验,证明CVS-JCC的有效性以及不同场景下优化运行方法的先进性。
文摘【目的】“双碳”背景下,节能降碳已成为保障国家能源安全与实现绿色转型的关键。油田联合站作为油气集输与处理的能耗“大户”,传统的“电网+燃气锅炉”供能模式成本高、排放大、韧性差等矛盾突出,亟需构建适应高比例可再生能源、季节调控能力强大的多能互补系统。【方法】针对油田联合站高耗能、高排放、高韧性风险的“三高”问题,提出了“风光-氢-储-荷”多能系统协同架构:将风光发电替代网购电,以电解制氢-储氢-燃料电池形成电-氢-电闭环,并利用热电联产机组、热泵、储热多源供热;创新性地将阶梯碳交易与价格/激励双重需求响应纳入统一优化模型,从经济、低碳、韧性多重目标对新建系统进行评价分析。【结果】基于混合整数线性规划(Mixed-integer Linear Programming,MILP)问题,设置了4种场景,以大庆油田某联合站为例分析表明:①与传统供能模式相比,含氢循环的多能互补系统能源利用效率提高了30%以上,年运行成本降低41.20%,碳排放强度下降2.10%,且可再生能源消纳率提升至90%以上;②阶梯碳交易通过递增碳价杠杆,使系统碳交易成本上升24.98%、碳排放量下降6.74%;③叠加需求响应后,可进一步降低碳排放1.30%、碳交易成本下降1.51%,实现减排与降本“双赢”;④氢能子系统作为跨时空调节器,在风光发电时段存储富余绿电,在负荷高峰或极端天气下则反向供电、供热,全年弃风弃光率控制在1%以内,显著增强供能韧性。经济性测算显示,在现行碳价与电解槽投资水平下,新建系统增量投资回收期为5~8年,若碳价低于80元/t、电解槽成本下降至2500元/kW以内,回收期可缩短至4年。【结论】研究成果已形成可复制的油田联合站供能低碳改造技术路线,有助于伴生气资源丰富、电热负荷稳定的老联合站提质增效,也可为高比例可再生能源新区块微网规划提供“电-热-氢”协同范式。
