4 results about "Multi machine system" patented technology

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.

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 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.