20 results about "Multi machine system" patented technology

The invention discloses a multi-machine system number-real consistency error collaborative prediction method and system based on multi-agent reinforcement learning, and belongs to the technical field of multi-robot systems and artificial intelligence. According to the method, each robot is modeled as an intelligent agent, a centralized training distributed execution framework is adopted, and collaborative prediction of errors is achieved. Each agent collects own, neighbor and environment state information in real time, multi-source information integration is carried out through feature embedding and gating fusion, the influence of different information sources on errors is dynamically evaluated by adopting a layered attention mechanism, and propagation and coupling rules of the errors in a cluster are effectively modeled. In the training stage, the centralized commentator network is utilized to evaluate the global prediction performance, the cooperative optimization of each executor network is guided, and the prediction precision is improved. According to the method, active and collaborative prediction of the multi-machine system number-real consistency error is realized, and a key technical support is provided for error feed-forward compensation and system reliability guarantee.

The invention discloses an SMES-MMC cooperative frequency supporting method for a new energy sending-out system, discloses a system and a medium with the SMES-MMC cooperative frequency supporting method for the new energy sending-out system, and provides a method for improving the transient stability of a wind power-containing multi-machine system by combining superconducting energy storage. A dynamic power compensation control strategy based on sliding mode control is designed by constructing a mathematical model of a superconducting energy storage and direct-driven wind power generation system, and optimal control of system frequency recovery and voltage stability is realized by combining slope power recovery characteristics of a fan.

The application discloses a kind of primary frequency modulation control method and system of hybrid wind farm, including obtaining the data information of target power system and corresponding hybrid wind farm;Multiple-machine system frequency response model of target power system is constructed and is simplified to obtain aggregate response model;Based on the dynamic process of wind turbine output power and fan, the primary frequency modulation dynamic model of hybrid wind farm is constructed;The active output power of network type fan in hybrid wind farm is calculated;Based on the real-time rotor kinetic energy stored in each fan in hybrid wind farm, the droop coefficient of each network type fan and the frequency modulation power required to be provided by follow network type fan cluster are calculated;According to the frequency modulation characteristic parameters of follow network type fan cluster, real-time system frequency and energy state index, the output power of each follow network type fan is calculated;The primary frequency modulation control of hybrid wind farm is completed.The application not only realizes the primary frequency modulation control of hybrid wind farm, but also has higher reliability and better accuracy.

The application discloses a kind of based on the damping inertia of ridge estimation multi-self-synchronous voltage source coordinated control method, comprising: establishing system transfer function and self-synchronous voltage source model;Self-synchronous voltage source model is linearized and differentiated, and virtual damping and virtual inertia are decoupled by ridge estimation LASSO regression, optimal virtual damping coefficient and virtual moment of inertia under system dynamic and static are solved;According to dynamic performance and optimal second-order system criterion, introduce transient compensation to carry out optimal control to system damping inertia;According to the reasonable matching principle of virtual damping inertia, the virtual inertia and virtual damping coefficient of each self-synchronous voltage source are set, the transition time of multi-machine system is kept consistent, and dynamic and static coordinated control of multi-self-synchronous voltage source is carried out.The application considers the reasonable matching of virtual inertia and virtual damping coefficient under multi-machine parallel system, effectively improves system dynamic characteristics and static stability ability, so that new energy station source side self-synchronous voltage source power quality is higher, and system adaptive performance is better.

The embodiment of the invention provides a power system frequency safety constraint solving method based on physical data hybrid drive, which comprises the following steps: establishing a multi-machine system frequency response model, and deducing a nonlinear analytical relationship between a frequency safety margin and a frequency characteristic space; sampling in the frequency characteristic space to generate a data sample set; based on the data sample set, using a support vector machine to train and fit the non-linear analytic relationship obtained by derivation, and constructing a support vector machine model; and converting the support vector machine model into a mixed integer linear programming constraint, integrating the mixed integer linear programming constraint into the power supply programming model of the power system, and carrying out optimization solution to obtain an optimal power supply combination scheme. According to the technical scheme provided by the invention, the frequency support potential of various power supplies can be accurately evaluated and utilized, the total cost of the system is remarkably reduced on the premise of ensuring the frequency safety of the low-inertia power system, and a key technical support is provided for planning and operation of the high-proportion renewable energy power system.

This invention proposes a rapid braking control strategy for multiple units in a ramp-type gravity energy storage system. By constructing an energy efficiency evaluation function, the optimal delay time for multi-stage braking that can balance small-power impacts and rapid shutdown braking is determined. This invention is based on the braking delay time Δt, the number of grid-connected units N, and the total braking time T of the entire unit in the ramp-type gravity energy storage system. brake Braking peak power P max By identifying the relationship between parameters and the speed curve of a single unit during braking, the delay time t of a single unit can be determined. brake By setting weight factors for the braking time and peak braking power of the entire unit and the number of units in the system, and fitting the braking time curve and peak braking power curve of the entire unit using the basic interpolation method, a multi-level braking energy efficiency evaluation function model for the sloped gravity energy storage system is constructed, and the optimal delay time setting scheme under different weight factors is studied.

The application provides a controller parameter optimization method and system based on transient stability domain maximization, and the method comprises the following steps: using a virtual synchronous generator to control a network type controller, and obtaining operation data of the network type controller; constructing a multi-machine system state equation according to the operation data of the network type controller; using a sum of squares programming algorithm to process the multi-machine system state equation, and obtaining a Lyapunov function for expanding the stability domain; using a simulation internal domain expansion parameter optimization algorithm to process the Lyapunov function for expanding the stability domain, and constructing an optimized Lyapunov function; and redesigning parameters of the network type controller according to the optimized Lyapunov function. The application realizes expansion of the transient stability domain, and improves the stability of the power system where the controller is located.

The invention relates to the technical field of network construction type converter-based power supply inertia estimation based on small disturbance response, in particular to a data-based network construction type power supply inertia estimation method. Comprising the following steps: obtaining an inertia response of a network-forming CBG; obtaining a network construction type CBG inertia expression based on electromechanical characteristics; and extracting the electromechanical oscillation component. The inertia response model under the electromechanical time scale is constructed on the basis of analyzing the time scale of each control link in the detailed model of the network construction type CBG. By analyzing the electromechanical oscillation response characteristics of the net-forming type CBG under small disturbance, the analytical expression of the inertia of the net-forming type CBG is deduced, and the situation that the inertia is evaluated to be negative can be effectively avoided. A dominant oscillation mode is extracted through an oscillation mode decomposition technology, and the application of the estimation method in a large-scale multi-machine system is improved.

The present application relates to the field of new energy technology, in particular to a three-machine virtual synchronous generator frequency coordination control method and system, the method comprises: obtaining the control data of each VSG in the three-machine VSG island system; real-time calculation of the frequency deviation coupling term between multiple machines, generating a virtual dynamic mutual damping torque compensation; combined with the rolling optimization characteristics of MPC control, taking the reasonable interval of frequency convergence to the rated value as the target, building a multi-objective cost function, outputting the optimized active reference power; through the synergistic effect of virtual dynamic mutual damping and MPC, the frequency coordination control is realized. The present application solves the problems of serious frequency deviation, excessive transient fluctuation and poor multi-machine synchronization of three-machine VSG system, not only enhances the frequency disturbance rejection ability of multi-machine system, but also realizes the precise control of frequency, improves the operation stability, synchronization and economy of three-machine VSG island system.

The invention discloses a multi-motor cooperative minimum loss control method and system for linear induction motors, and belongs to the technical field of linear motor control. The method comprises the following steps: deducing a function relationship between thrust and total loss of a plurality of motors under the control of minimum loss according to a relationship between a primary flux linkage and loss of a single motor; defining a thrust distribution coefficient, and establishing a multi-motor thrust-total loss optimization model comprising a total thrust constraint, a thrust constraint of each motor, a voltage constraint and a normal force difference constraint of adjacent motors; taking the thrust distribution coefficient as an optimization variable, and adopting a sequential quadratic programming method to carry out optimization distribution on each motor thrust instruction; and finally, according to the optimized thrust instruction of each motor, realizing thrust tracking and loss regulation and control of each motor in combination with a single-motor minimum loss control strategy. According to the invention, cooperative minimum loss control from a single-machine system to a multi-machine system is realized, and the overall operation efficiency of the multi-motor system is effectively improved.

The invention discloses an improved GFM-PMSG transient control method for a multi-machine system based on virtual impedance, and belongs to the technical field of stable control of a power system, and the method comprises the steps: reducing the output voltage during a GFM-PMSG fault period through adjusting a voltage instruction value when the impact current during the fault period is greater than a current safety threshold Imax, thereby reducing the short-circuit current during the fault period; and setting a transient current safety threshold I'max, and when the short-circuit current is still greater than I'max after the reactive instruction value is adjusted in the fault switching stage, starting virtual impedance control to effectively suppress the short-circuit impact current. According to the method, the transient power angle stability of the GFM-PMSG-containing power system is improved, safe operation of the converter is guaranteed, and the method is suitable for complex working conditions of a multi-machine system.

This invention discloses a transient stability analysis method and system for a multi-machine grid-connected system. First, a transient model of the system is established, and the stable equilibrium point before the fault is determined based on the power balance equation and the eigenvalues ​​of the Jacobian matrix. Using the stable equilibrium point as initial values, the fault trajectory is calculated, and an interpolation correction algorithm is introduced to eliminate discrete simulation step size errors and accurately locate the point on the fault trajectory where the potential energy derivative changes from positive to negative. Using this point as an initial value, the system iteratively searches for the minimum point of power imbalance along the gradient descent path. Solving the power balance equation using the minimum point as an initial value yields the dominant unstable equilibrium point. Finally, the energy of the dominant unstable equilibrium point is used as the critical energy to determine whether the system is stable after the fault is cleared. The method provided by this invention reduces the conservatism of the traditional energy function method for stability assessment in multi-machine systems, effectively reduces the multi-saddle point interference problem in multi-machine systems, and accurately locates the dominant unstable equilibrium point related to the fault path.

The application discloses a current-limiting control method and device of a grid-forming converter and a medium, relates to the field of power grids, and solves the problem of unstable delay of current-limiting control based on current. The current-limiting control method is suitable for a multi-machine system connected in parallel to a power grid in a distributed manner. The voltage parameter of a power grid common coupling point is taken as a core to determine the fault degree, and a self-adaptive virtual impedance current-limiting circuit based on voltage is built in combination with the current parameter of the power grid side, so that the virtual impedance parameter is dynamically adjusted and a voltage deviation term is generated, and automatic switching between normal and fault conditions is realized. Each grid-forming converter is taken as an independent intelligent agent, information interaction between the intelligent agents and a distributed consistency algorithm are used, the voltage deviation term is converted into a voltage and frequency compensation term, the compensation term is embedded into a bottom virtual synchronous machine power control loop, the output voltage amplitude and angular frequency are corrected and converted into a three-phase reference voltage, a PWM wave is generated through PI control to drive the converter, and the adjustment scheme is more stable.

The application provides a kind of DoS attack under quad-rotor unmanned aerial vehicle adaptive flexible formation control method, it is related to unmanned aerial vehicle safety control technical field, this method is based on the multi-machine formation system of leader-follower mode under undirected network topology diagram, for the DoS attack of blocking communication channel establishes mathematical model and according to DoS attack establishes the network topology of changed multi-machine system;Distributed flexible observer is constructed to obtain unknown leader information under DoS attack, and the tracking formation error containing time-varying offset signal is constructed according to the output of the observer, and the neighborhood where the formation error can converge to zero is taken as the control target;Adaptive flexible formation controller is designed by using backstepping method, and adaptive flexible formation control of quad-rotor unmanned aerial vehicle is realized.The control method proposed in the application considers the case that at least one communication channel is attacked by DoS, and the adaptive flexible formation controller constructed can ensure that the tracking formation error of multi-machine formation system converges to the neighborhood of zero under DoS attack, and the desired formation is achieved.

This invention discloses a multimodal perception-based embodied intelligent robot cargo loading and unloading collaborative control method, relating to the field of cargo loading and unloading collaborative control technology. The method includes registering and calibrating the status of multiple embodied intelligent robots to make them schedulable; detecting the objects to be transported in real time through a visual sensor network and determining their quantity; and performing transportation analysis based on a target time, including: obtaining the shortest path from the starting point to the target point, identifying congestion nodes and determining their allowable values ​​based on the relationship between the path width and the travel width of the transport object, and obtaining the number of simultaneous departures. This application significantly improves system throughput and efficiency in complex bottleneck environments. By introducing a congestion node identification and allowable value quantification analysis mechanism, the width constraint of the physical path is accurately transformed into scheduling parameters. Based on this, a batch departure and interval adjustment strategy is designed, preventing congestion in narrow areas from the source, enabling the multi-robot system to maintain efficient and orderly flow even in environments with inherent bottlenecks.

The invention discloses an induction motor time-varying phase domain modeling method and system based on a discrete coordinate system, and belongs to the technical field of electromagnetic transient modeling of a power system. The method comprises the following steps: performing discrete coordinate system transformation on stator and rotor circuits and rotor components of the induction motor to construct a mutual inductance matrix between a stator and a rotor; on the basis of the mutual inductance matrix, replacing a rotor current component in a stator voltage equation with a flux linkage equation to obtain a subtransient expression form of a stator circuit, and then applying Clark inverse transformation to obtain a stator voltage equation suitable for network simultaneous solution; and discretizing the stator voltage equation suitable for network simultaneous solution to construct an electromagnetic transient VBR model of the time-varying phase domain of the induction motor. The method is suitable for multi-machine system simulation, the calculation efficiency is high, and engineering implementation is easy.

This invention provides an analytical method for the influence of the excitation system of a hydropower unit on ultra-low frequency oscillations. Based on a multi-unit system, an equivalent single-unit, single-load model for analyzing ultra-low frequency oscillation modes is constructed. An improved four-unit, two-zone system model of the excitation control system based on a power system stabilizer is constructed and trained. The transfer function in the equivalent single-unit, single-load model is solved using the trained improved four-unit, two-zone system model to obtain the poles of the transfer function, and the mechanism by which the excitation system influences ultra-low frequency oscillations is analyzed. This invention analyzes the mechanism by obtaining the eigenvalues ​​corresponding to the oscillation modes of the improved four-unit, two-zone system, providing a basis for studying the mechanism by which the excitation system influences ultra-low frequency oscillations. Furthermore, transfer function and damping torque analyses are performed for cases where network losses are ignored and the voltage regulation effect of the load is considered, providing a more detailed analysis of the mechanism by which the excitation system of a hydropower unit influences ultra-low frequency oscillations, thus filling the gap in the study of how the excitation system suppresses ultra-low frequency oscillations.

The invention belongs to the technical field of power system planning, and particularly relates to an energy storage stochastic programming method considering frequency stability constraint and a related device. Comprising the following steps: acquiring frequency response characteristics of a multi-computer system, and constructing an aggregation multi-computer system frequency response model through a parameter equivalence method based on the frequency response characteristics of the multi-computer system; based on the aggregated multi-machine system frequency response model and a preset frequency safety margin, establishing a linearized frequency safety margin calculation model; through a stochastic optimization method, taking the minimum sum of the energy storage full life cycle cost and the system total operation cost as an objective function, and taking the system operation condition and the linearization frequency safety margin calculation model as constraints, establishing an energy storage stochastic programming model considering the frequency stability constraint; and solving the energy storage stochastic programming model considering the frequency stability constraint to obtain an energy storage site selection and capacity configuration scheme. And collaborative optimization of energy storage planning economy and system frequency stability is realized.

The invention relates to the technical field of new energy, in particular to a three-machine virtual synchronous generator frequency coordination control method and system, and the method comprises the steps: obtaining the control data of each VSG in a three-machine VSG island system; calculating a frequency deviation coupling term among multiple machines in real time, and generating a virtual dynamic mutual damping torque compensation amount; in combination with the rolling optimization characteristic of MPC control, a multi-target cost function is constructed with the target that the frequency converges to a reasonable interval near a rated value, and the optimized active reference power is output; and frequency coordination control is realized through the synergistic effect of virtual dynamic mutual damping and MPC. According to the invention, the problems of serious frequency deviation, overlarge transient fluctuation and poor multi-machine synchronism of the three-machine VSG system are solved, the frequency anti-interference capability of the multi-machine system is enhanced, the accurate control of the frequency is realized, and the operation stability, synchronism and economical efficiency of the three-machine VSG island system are improved.

The invention relates to a pile driver collaborative operation method and system based on photovoltaic, a terminal and a storage medium, and relates to the technical field of photovoltaic engineering construction.The method comprises the steps that collected construction operation basic parameters are input into a multi-machine system for modeling and a problem definition model for analysis to obtain construction limiting parameters; collecting real-time sampling parameters; analyzing the construction limitation parameters and the real-time sampling parameters to obtain pile driver collaborative operation parameters and multi-dimensional reward parameters; according to the pile driver collaborative operation parameters, pile drivers are controlled to operate; judging whether the collected operation progress is consistent with the construction completion progress or not; if yes, the pile driver is controlled to stop working; if not, the construction limitation parameters, the pile driver collaborative operation parameters, the multi-dimensional award parameters and the collected construction process parameters are analyzed to obtain collaborative operation parameters of the next period; and controlling the pile driver to operate according to the collaborative operation parameters in the next period, and collecting construction process parameters and construction progress for cyclic judgment. The construction method has the effect of improving the construction efficiency and safety.