51results about How to "Achieve coordinated operation" patented technology

The invention provides a robot local path planning method which comprises following two parts: (1) a vision sub-system is adopted to perform closed-loop detection: a mechanical arm sub-system is separated from a mobile underpan sub-system, closed-loop detection control is performed through the closed-loop detection, and pick or place from the mechanical arm to a target object on the best substrate position is realized; (2) the local path plan is formed by a combination of the artificial potential field and the RRT algorithm, and mobile underpan and mechanical arm separation plan is realized through the local path plan; when the local path plan is performed, the mobile underpan adopts the artificial potential field to plan, and after every local path planning, the mechanical arm is planned through the RRT algorithm to judge if the movement of avoiding barrier and smoothly pick up a target object can be completed. According to the invention, the different plans for the mobile underpan and the mechanical arm are combined, so that overall coordination operation of the robot is realized.

The invention discloses a virtual power plant optimization scheduling method based on a master-slave game strategy. The method comprises the following steps: 1, analyzing and constructing a virtual power plant model containing multiple load types; 2, establishing a virtual power plant transaction model based on an existing power market transaction mechanism; 3, establishing a risk cost model considering uncertain factors; 4, carrying out optimal scheduling on the virtual power plant by adopting a master-slave game strategy; And 5, solving the optimized scheduling model through a reinforcementlearning algorithm. According to the method, the volatility of distributed energy output in the virtual power plant and the uncertainty of load prediction are considered, an economic dispatching modelof the virtual power plant in the power market is constructed, and a master-slave game strategy and a reinforcement learning algorithm are adopted for optimization solution, so that the purposes of improving the production benefits of the virtual power plant and reducing the load power purchase cost are achieved.

The invention discloses an island integrated energy supply and safeguard system. The system includes a small-sized nuclear power generation device which serves as a main power supply of an island micro-grid; a switch station which is intended for connecting the small-sized nuclear power generation device to the micro-grid; a high capacity energy storage system for energy storage and a super capacitor; a distributed regeneration power generation system which serves as an auxiliary power supply of the island micro-grid; a diesel power generation system which serves as an emergency energy source of the island micro-grid; and a micro-grid integrated control management center system; the mall-sized nuclear power generation device, the switch station, the high capacity energy storage system, the distributed regeneration power generation system, the diesel power generation system, and the micro-grid integrated control management center system are connected through power transmission lines or/and micro-grid communication lines. According to the invention, the system can provide integrated energy supply and safeguard.

The invention relates to the technical field of energy storage resource operation scheduling and transactions, in particular to a shared energy storage overall trading system based on block chain technology and an operation method. The scheduling node issues an energy storage discharge offer; the energy storage node responds to the charging offer and the discharging offer; the authentication nodereviews the responded energy storage node to form an effective intelligent contract; the monitoring node ensures correct execution of the contract; the settlement node settles the income of the new energy field station and the energy storage resource; and full-automatic and efficient operation of charging-discharging-fee settlement is realized through operation of the system. The method and systemhave the beneficial effects that based on the blockchain technology, effective bidding and automatic execution of the energy storage charging service and automatic and rapid response of the energy storage discharging service are realized through signing and automatic execution of charging and discharging contracts; fair settlement of the energy storage service cost is realized; the energy storageresources of the whole network can fairly participate in the transaction; and the safety of information transmission is ensured.

The invention discloses a unit network coordination system based on high-capacity multivariate data access. The system comprises a thermal power plant sub-station acquisition system, a hydraulic power plant sub-station acquisition system, a wind farm sub-station acquisition system, and a central main station system, and the thermal power plant sub-station acquisition system, the hydraulic power plant sub-station acquisition system, the wind farm sub-station acquisition system, and the central main station system realize communication via an IEC104 protocol and a power dispatching data network. Based on the system, centralized acquisition of data of a professional equipment stage and a control system stage such as thermo-technology, water machines, and excitation at a power grid side of a thermal power plant is realized, and with the combination of power grid operation information, advanced application functions of unit network coordination such as operation equipment evaluation of equipment at a generation side and network involvement function examination are realized.

The present invention discloses an intersection optimal period duration calculation method considering downstream bus stations. The method comprises the following steps: 1) calculating the total delay time of vehicles at the intersection according to the real intersection vehicle operation real data; 2) controlling and calculating the arrival rate and the service time of buses and the accumulated number of the vehicles at the bus stations through combination of signals, and calculating the total delay time of buses at the bus stations; and 3) calculating the per capita delay time according to the formula, and calculating the optimal period duration according to the per capita delay time. The intersection and the downstream bus stations are taken as a whole unit for analysis, and through combination of the real survey data, the influence of the upstream signals on the arrival features of the buses is considered to calculate the arrival rate and the service time of the buses, the accumulated number of the vehicles and the bus station waiting in line and service rate at the bus stations, and the minimum per capita delay time is taken as a target to calculate the optimal period duration so as to provide the basis for managers to evaluate the operation efficiency of the intersection and the bus stations and enforce the refined management.

The present invention relates to a coordinated control system and method of a plurality of electric springs based on droop characteristics. The system comprises a generation output voltage source vG,a circuit resistor R1, a circuit inductor L1, a non-key load ZNC, a key load ZC, and at least one single-phase electric spring system; the generation output voltage source vG is connected in series with the circuit resistor R1 and the circuit inductor L1 and is connected with a common connection point (PCC), one end of the key load ZC is connected with the PCC, the other end of the key load is earthed, the at least one single-phase electric spring system and the non-key load ZNC are connected in series to form a smart load (SL), one end of the SL is connected with the PCC, and the other end ofthe SL is earthed. The reactive power of the connection point of the system is multiplied by a certain droop characteristics to dynamically modify the voltage given value of each electric spring, andthe coordinated operation of each electric spring is achieved through the different modified given value. The coordinated control system and method of a plurality of electric springs based on droop characteristics can effectively solve the coordinated operation problem of the electric springs, can maintain the stability of the key load voltage such as a hospital and an information center and canimprove the electric energy quality.

The invention relates to an optical storage coordination and output voltage sharing integrated control method for series impedance source converter, specifically to an optical storage coordination anddistributed output voltage sharing integrated control method suitable for medium voltage DC power supply system. It solves the problem that the voltage sharing control strategy of the medium voltageDC power supply system is not conducive to the system expansion and the output voltage of the series impedance source converter is unbalanced, which leads to the poor stability of the whole system. The integrated control method of the invention adopts a phase-shifting through modulation mode, wherein, the control variable through angle is used for adjusting the photovoltaic module to realize maximum power tracking, and the output voltage stabilization is realized by controlling the phase-shifting angle between the primary side bridge arms of the transformer. In addition, the average voltage onthe input side is added as a new voltage reference value on the basis of the voltage reference value output by the system. When the output voltage of the series impedance source converter is unbalanced, the voltage sharing is realized by changing the corresponding voltage reference value. The invention is mainly applicable to a medium voltage DC power supply system.

The invention provides a wind power admission regulation and control method considering a short-time operation state of a power grid, and relates to the field of new energy admission of a power system. The method comprises the steps of on the premise of considering power grid peak regulation constraints and grid frame constraints, carrying out sensitivity analysis on the influence factors influencing the wind power admitting ability, and by means of a D5000 intelligent power grid dispatching technology supporting system, reading the operation data, such as a short-time starting mode, the loadlevel and the power flow direction of a power grid. The invention provides a provincial power grid wind power acceptance capability calculation principle and method to solve The wind power acceptancecapability index values of the power grid in different operation state, and further a coordinated power grid scheduling plan making and wind power accepting capability combined optimization schedulingmodel is constructed, so that the coordinated operation of a conventional power supply and the wind power is realized, the impact of wind power on the power grid operation is reduced, the actual windpower receiving capacity of the power grid is reflected more accurately, and the method has important significance for improving the new energy receiving capacity and the safe and stable operation ofthe high-permeability new energy power grid.

The invention discloses an intelligent bilateral control make-up system control device. The intelligent bilateral control make-up system control device comprises a flow dividing channel which comprises a first-stage bomb bay, a plate channel extending left and right, two thin sheet channels and two second-stage bomb bays, and discharging openings of the first-stage bomb bay and the two second-stage bomb bays are each provided with a separating plate mechanism driven by a steering engine; a flow dividing control structure driven by the steering engine is arranged in the center of the plate channel; the two sides of the plate channel are each provided with a flow limiting mechanism driven by the steering engine; and a control device is in signal connection with the separating plate mechanisms, the flow dividing control structure and the flow limiting mechanisms and is used for controlling opening and closing of the separating plate mechanisms, the flow dividing control structure and the flow limiting mechanisms according to received outside control signals. The invention further discloses an intelligent bilateral control make-up system control method. Through the comprehensive sensing technology and the recognition technology, the overall harmonious operation of the make-up system is achieved, and flow dividing work and accurate position falling are quickly carried out.

The invention relates to the technical field of warehouse management, and discloses a data communication method, device, system and apparatus and a storage medium. The method comprises the steps that:when it is detected that a warehouse management system initiates a data communication request to a warehouse control system, a connection interface developed by an MINA framework is called, a long connection communication link between the warehouse management system and a warehouse control system is created, wherein the long connection communication link comprises a communication manager, a filter chain and a logic manager; whether the warehouse management system has to-be-interacted data or not is monitored in real time based on the communication manager; if so, to-be-interacted data are obtained, and the to-be-interacted data is encoded and decoded by utilizing the filter chain, so that a shelf control instruction set can be obtained; and logic processing is performed on the shelf control instruction set through the logic manager to obtain a flow data packet, and the flow data packet is sent to the warehouse control system through the communication manager. Through the method, the loss caused by the communication problem can be reduced, and the efficiency and quality of the business process are improved.

The invention discloses an in-situ circulating treatment system for landscape lake water, and belongs to the technical field of landscape water purification. The system is composed of a surface runoff collecting tank, an ecological percolation tank, an enhanced purification unit, a circulating power system and a landscape lake water main body water area, wherein the enhanced purification unit consists of a bottom aeration device and a biological purification unit; the circulating power system consists of a circulating power pump and a circulating pipeline; an ecological box and a multi-stage aeration device are arranged in the landscape lake water main body water area; the surface runoff collecting tank is positioned at the lowest position of a landscape lakeshore terrain and is communicated with the ecological percolation tank; the ecological infiltration tank is arranged along the inner side of a landscape lakeshore; the enhanced purification unit is arranged near the communicating part of the surface runoff collecting tank and the ecological percolation tank; and the circulating power system is located in the center of the landscape lake body water area. The ecological percolation tank, a biological floating bed and the ecological box are all made of sponge concrete and have good water permeability, air permeability and water binding capacity. The system is suitable for various urban landscape lakes, realizes in-situ treatment of landscape lake water, improves the quality of the landscape lake water and increases the life happiness index of residents according to the water quality characteristics of the landscape lake water and the green and ecological design concepts, and has the advantages of low operation cost, easiness in control, environment friendliness and the like.

The invention provides a building networking virtualization management platform and a management method. By storing user information, device information, node information, operation rules, virtual space and a correlation table among the above parameters, storage and management on data of each device and the operation relation between the devices are realized. A communication protocol is set, the communication protocol is used for data interaction with an Internet of Things node and an Internet of Things DDC controller, based on the operation rule, a virtualization configuration management architecture is constructed, virtualization management on each piece of space and a device module corresponding to a preset management authority is completed, coordinated operation between devices in thebuilding can be realized, and the building is more intelligent.

The invention discloses a coordinated multi-agent scheduling processing method and device for a power distribution network. The method comprises the steps of: establishing models of all main bodies inthe power distribution network respectively, wherein the main bodies comprise at least one of distributed wind power, distributed photovoltaic, flexible loads and an energy storage system; establishing the demand evaluation model of the user, the demand evaluation model being obtained by evaluation according to historical power consumption data of the user; obtaining the power demand of the userfrom the demand evaluation model of the user; and scheduling according to the model of each main body and the power demand of the user so as to adjust the power supply quantity of the user. Accordingto the application, the technical problems that the existing multi-agent coordinated operation technology does not analyze various loads in the power distribution network and does not consider differentiated power demands among users, so that the actual situation is not met during later load regulation and control, and the power utilization satisfaction of power users is reduced are solved.