9results about How to "Increase stability margin" patented technology

The application belongs to the technical field of robots, and discloses a three-dimensional force sensing-based detection and balance control method and system for a legged robot. The method comprises the following steps: determining the number of the leg of the multi-legged robot that slips according to a three-dimensional force signal of the multi-legged robot in contact with the ground; and adjusting the multi-legged robot in the following manner when slipping occurs: (1) adjusting the height of the center of mass of the multi-legged robot; (2) for the leg that slips, actively adjusting the joint stiffness and joint damping of the leg to relieve instantaneous impact; applying foot end acceleration and adjusting normal support force to suppress slipping; and adjusting the target foot landing point at the next time. Through the application, the balance of the robot can be quickly restored after slipping occurs, the risk of instability is reduced, and the stability of the robot in a complex environment is ensured.

The invention provides a power hardware-in-the-loop interface compensation method based on power amplifier parameter identification. Parameter identification is carried out on a power amplifier system, parameter information of a passive device in the power amplifier is estimated, and the robustness of the system to parameter changes is improved. Due to the existence of a filter in a power amplifier, deviation of actual power transmission and ideal power transmission characteristics is generally caused, and the amplitude and phase angle deviation caused by the filter is compensated through parameters identified in an interface method, so that the power transmission precision is improved, and the reliability of power hardware in the loop is improved. In addition, the compensated system is closer to an ideal system, is more suitable for power hardware in-loop stability analysis and verification, and particularly has remarkable advantages under the condition of parameter aging offset of the power amplifier.

The application discloses a kind of based on energy-aid service collaborative optimization power system stable operation method, equipment and medium, belong to power system stable operation optimization technical field, including establishing new energy and multiple resource characteristic quantification model, accurately depict new energy output fluctuation and multiple resource operation constraint;Energy-aid service collaborative stability optimization model is constructed, and multiple objectives and coupling constraints of minimum system stable operation cost, maximum new energy consumption rate, maximum system operation stability are set;Establish new energy output uncertainty risk quantification model, dynamically adjust reserve configuration by scene analysis;Design model solving method based on improved whale-differential evolution fusion algorithm, realize efficient and accurate solution.The method can improve new energy consumption capacity and the economy, reliability of power system stable operation, suitable for power system optimization operation under new energy high penetration rate.

The invention discloses an LNA (low noise amplifier) with high gain flatness and multi-band adjustment for aerospace information acquisition. Comprising a first low-noise amplification module, a first radio frequency switch, a first filtering module, a second radio frequency switch, a first adjustable attenuation module, a second low-noise amplification module, a second adjustable attenuation module, a third low-noise amplification module, a third radio frequency switch, a second filtering module and a fourth radio frequency switch which are connected in sequence. Each of the first filtering module and the second filtering module comprises a plurality of signal paths with different frequency response characteristics; a signal path of the first filtering module comprises an equalizer and a band-pass filter, and a signal path of the second filtering module comprises a band-pass filter; and the first radio frequency switch, the second radio frequency switch, the third radio frequency switch and the fourth radio frequency switch are used for selecting signal paths, so that the technical problems that in the prior art, extremely low noise and high and flat power gain are difficult to maintain in a wide frequency band, and switching in different frequency bands cannot be flexible are solved.

The application discloses a network-constructing energy storage coordinated control method for supporting grid voltage stability, and steps are as follows: real-time acquisition of state information and network-constructing energy storage output current; when the network-constructing energy storage output current does not reach an overcurrent limiting threshold, the network-constructing energy storage is controlled to adopt a constant voltage amplitude operation mode, the voltage amplitude of a node connected with the network-constructing energy storage is maintained to be equal to a reference value, so that a P-V characteristic curve of a load side is reshaped, the maximum transferable power of the load side is improved, and a static voltage stability margin is increased; when overcurrent occurs in the network-constructing energy storage, the network-constructing energy storage is switched to an overcurrent operation mode, in which mode, the network-constructing energy storage output active power and reactive power are distributed according to the ratio of line resistance to reactance between a grid node and a node connected with the network-constructing energy storage; and when the network-constructing energy storage output current falls below a preset recovery threshold, the constant voltage amplitude operation mode is restored. The application can improve the static voltage stability limit of a load node and the continuous voltage support capability of energy storage to the load under an overcurrent condition.

This invention relates to the field of power system stability analysis technology, and particularly to a method for determining the capacity of grid-connected static var generators (SVG) based on an improved composite short-circuit ratio. The method includes: generating a set of power grid operation scenarios based on the power grid operation mode; verifying and filtering the set of power grid operation scenarios to obtain a set of extreme operation scenarios; constructing a power system model without grid-connected static var generators (SGVs); calculating and filtering the extreme operation scenarios based on the system strength index of new energy power plants through the power system model to obtain a set of extreme scenarios for weak power grids; performing cluster analysis on the set of extreme scenarios for weak power grids to obtain a set of representative extreme scenarios; establishing a power system model containing grid-connected SGVs based on preset access nodes for the representative extreme scenarios; constructing a system strength index that integrates the supporting role of grid-connected SGVs; setting a system strength target threshold and judgment conditions; and analytically deriving the lower limit of the capacity of grid-connected SGVs.

The present application relates to a kind of LLCCL filter grid-connected energy storage converter wide-frequency collaborative harmonic suppression method and system.Belongs to new energy grid-connected power electronic control and power quality management technical field.The method is set between converter and public coupling point LLCCL filter, and PCC voltage, net side current and filter branch current are collected;According to the power given value, the net side current reference value of bidirectional power operation is generated;Through the active damping of branch current feedback, LLCCL filter resonance peak is inhibited, through the proportional resonant controller containing fundamental wave and low-order harmonic resonance term and PCC voltage feedforward, low-order current distortion caused by background voltage harmonic is inhibited, and high-frequency attenuation is carried out on switching frequency related side frequency component by LLCCL filter.The present application can collaboratively inhibit low-order background harmonic, filter resonance and switching frequency related high-frequency harmonic in the same control framework, improve the grid-connected current quality and operating stability of energy storage grid-connected converter.

This invention relates to the field of new energy grid-connected stability control technology, and particularly to a method, system, device, and medium for coordinating and optimizing grid-connected static var generator (SVG) parameters based on dynamic identification of short-circuit ratios of multiple power stations. The method includes: acquiring operating parameters of multiple power stations and the multi-port equivalent impedance matrix of each power station's grid connection point; evaluating the stability state of each power station and the coupling characteristics between power stations based on the operating parameters and the multi-port equivalent impedance matrix to obtain state evaluation parameters; constructing a multi-station parameter coordination and optimization model based on the state evaluation parameters; solving the multi-station parameter coordination and optimization model to obtain the reference values ​​and parameter fluctuation ranges of the control parameters for each power station's grid-connected static var generator (SVG), where the control parameters include virtual inertia, damping coefficient, and virtual reactance; and obtaining the impedance phase margin at each verification frequency point within the entire frequency band based on the reference values ​​of the control parameters and the equivalent impedance matrix, and comparing the impedance phase margin with a preset phase margin safety threshold.

This invention provides a fault-tolerant control system and method for a magnetic levitation motor based on virtual sensing technology, relating to the field of magnetic levitation motor technology. The system includes a magnetic levitation motor body, a turbine expander, a measurement and monitoring unit, a power amplification and power supply unit, and a digital controller. The digital controller receives multi-source signals synchronously acquired by the measurement and monitoring unit to obtain the physical measured displacement of the rotor. It performs a mechanism-data dual-drive composite aerodynamic disturbance estimation for the magnetic levitation motor to obtain the aerodynamic compensation force and calculate the virtual displacement of the magnetic levitation rotor. It performs orthogonal reconstruction of the physical measured displacement and the virtual displacement to obtain the reconstructed displacement feedback signal for the digital controller to control the rotor. The digital controller calculates the basic feedback control quantity based on the closed-loop error according to the reference levitation control law. The digital controller reassembles the feedback source, aerodynamic compensation force, and control parameters of the basic feedback control quantity online to form the final control output.