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 discloses a microgrid cluster concentrated-distributed type coordinated optimization scheduling method. The method includes the steps that a microgrid cluster two-layer optimization scheduling model is built, and the microgrid cluster global goal and local goals of microgrids are all taken into consideration, wherein a microgrid cluster scheduling center is arranged on the upper layer, and a microgrid scheduling center is arranged on the lower layer; the cluster scheduling center on the upper layer calculates generating capacity of all micro power sources according to optimization of the global goal and sends the generating capacity to the microgrid scheduling center on the lower layer, wherein the generating capacity serves as decision variables; the microgrid scheduling center corrects the generating capacity of the micro power sources according to the local goals of the microgrids; the corrected generating capacity is sent to the cluster scheduling center on the upper layer, and correction and iteration are repeated until a coordination solution with which both the upper layer and the lower layer are satisfied is achieved. According to the microgrid cluster coordinated optimization scheduling method, inconsistency of the goal of the upper layer and the goals of the lower layer is taken into consideration, and through iterative optimization and interacted correction of the cluster scheduling center and the microgrid scheduling center, the global goal and the local goals can be coordinated. The method adapts to the distributed characteristic of a microgrid cluster, and coordinated operation between the microgrids can be achieved.

The invention discloses a method for controlling a frequency modulation or peak regulation mode in an optical-storage combined system, and the method comprises the steps: 1, setting a peak regulationcharging and discharging time period according to the peak-valley time period of a local load and the photovoltaic output condition; 2, setting SOC partitions of an energy storage battery; 3, detecting a power grid frequency f by the optical-storage combined system, and judging an energy storage operation mode; 4, considering the idle capacity limiting condition of an inverter; 5, setting the maximum output constraint coefficient lambda SOC of the energy storage battery; and 6, considering the maximum constraint coefficient limiting condition. The idle capacity of the photovoltaic inverter canbe fully utilized, so that the photovoltaic power station has the frequency modulation / peak regulation capacity, and the pressure of a power grid frequency modulation unit and a peak regulation unitis reduced.

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 provides a multi-type resource optimization combination method and system for a virtual power plant. The method comprises the following steps: constructing an interaction framework of multi-party subjects in the operation of the virtual power plant; constructing a resource adjustment characteristic model of the virtual power plant interactive resources, and establishing a resource optimization combination model of the virtual power plant considering power distribution network congestion management; performing branch power flow constraint linearization, introducing a sensitivity parameter, and linearly describing a relationship between branch transmission power change and virtual power plant regulation power; and according to regulation and control authority of the virtual power plant to resources, determining a combination mode of directly controlling resources by the virtual power plant according to the resource optimization combination model, and then determining a combination mode of the resources controlled by the distributed energy users. The congestion management service is provided for the power distribution network, and the distributed energy heterogeneity canbe overcome.

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 invention provides an Internet of Things virtual configuration management and control platform and method, and the platform achieves the storage and management of the data of each device and the operation relation between each device through the storage of user information, device information, node information, operation rules, a virtual space, and a mutual relation table among the above parameters. Setting a communication protocol, and performing data interaction with the Internet of Things node by using the communication protocol, Running rules in accordance with storage, Construction ofa model library, Based on each standard element in the model library, each area is configured, the equipment modules in the corresponding areas are configured, a virtual configuration management architecture is formed, remote reconstruction and management are carried out, coordinated operation among equipment in the building is realized, coordinated operation among the equipment in the building can be realized, and the building is more intelligent.

The invention discloses a power distribution network interactive solution programming method based on an improved genetic algorithm. Electricity utilization curves of each interactive user is obtained through adopting a non-dominated sorting genetic algorithm provided with an elitist strategy according to specific interactive demand, declaration interactive capacity and interactive cost of a power distribution network user as well as power and electric quantity data of the interactive user, and a dispatching plan for each interactive user to participate in interaction is programmed according the electricity utilization curves of each interactive user. According to the dispatching plan programmed by adopting the method, response behaviors of each interactive user are simulated. The power distribution network interactive solution programming method arranges interactive solutions of demand side users rationally through the non-dominated sorting genetic algorithm provided with the elitist strategy, reduces difference between peak and valley of a power distribution network, and reduces influence of output fluctuation of new energy power generation, thereby achieving coordinated operation of power supply and load in the power distribution network, and achieving the purposes of integral absorption of new energy as well as reliable and economical operation of the power distribution network.

The invention discloses a short-cut denitrification coupled anaerobic ammonia oxidation composite particle as well as a preparation method and application thereof. The composite particle comprises a core layer, a first shell layer and a second shell layer which are sequentially arranged from inside to outside, wherein the core layer is zeolite, the first shell layer is a biological membrane containing anaerobic ammonia oxidizing bacteria, and the second shell layer is a hydrogel layer containing short-cut denitrifying bacteria. According to the composite particles provided by the invention, zeolite is used as a carrier, and short-cut denitrifying bacteria and anaerobic ammonia oxidizing bacteria are co-immobilized and cultured, so that the loss of the anaerobic ammonia oxidizing bacteria in a wastewater treatment process is effectively reduced; the adsorption performance of zeolite on ammonia nitrogen in water is combined with the microbial action, the biological efficiency of short-cut denitrifying bacteria and anaerobic ammonia oxidizing bacteria is improved, nitrate in the wastewater is reduced into nitrite in combination with the short-cut denitrifying bacteria, and coordinatedoperation of short-cut denitrification reaction and anaerobic ammonia oxidizing reaction is realized. In addition, the preparation method of the composite particle is simple, and the preparation process is easy to control.

The invention discloses a dynamic reactive power compensation controller based on instant sequence component power. The dynamic reactive power compensation controller comprises a hardware portion and a software portion. The hardware portion is mainly composed of a digital signal processing module, an alternating current sampling module, a serial communication module, a man-machine interface module and the like. The software portion is mainly composed of an instant sequence component power algorithm, a capacitor switching control algorithm and the like. By means of the dynamic reactive power compensation controller, low-cost large-capacity reactive power fast compensation is achieved. The instant sequence component power algorithm can achieve self-adaptation three-phase co-phase or split-phase fast mixed compensation on balanced or unbalanced load.

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 advanced treatment process of urban domestic sewage, and belongs to the technical field of water environment recovery. The treatment process comprises the following steps: taking effluent after the urban domestic sewage is subjected to dephosphorizing and removing organic matter through A / O as raw water, firstly using an SBR (Sequencing Batch Reactor) for carrying out whole course nitrosation, then mixing nitrosation technology water inflow which is the effluent after dephosphorizing and removing organic matter through A / O with nitrosation technology effluent according to certain proportion to fit the up-flow anaerobic ammonia oxidation biological filter, and processing the autotrophic nitrogen removal to enable the obtained effluent after the urban domestic sewage is subjected to the advanced treatment to satisfy national primary standard A. Therefore, the advanced treatment process has the advantages that contradictions such as carbon source insufficiency and great dissolved oxygen requirement difference, encountered when the dephosphorization technology and denitrification technology are disposed in the same reactor, can be effectively solved; and the efficient low carbon disposition and regeneration of the sewage can be realized.

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 belongs to the technical field of hybrid energy storage system power distribution and coordination control, and particularly relates to a distributed wind power hydrogen production hybrid energy storage system power distribution strategy. The method comprises the following steps: establishing a wind power hydrogen production hybrid energy storage system of a common direct current bus, and determining the capacity of each module; modulating a trigger signal of the grid-side converter to control the switching sequence of each bridge arm; analyzing the working characteristics of hydrogen production of the alkaline electrolytic cell to obtain an optimal hydrogen production power interval; performing mathematical modeling on the hydrogen production system according to an electrolytic hydrogen production mechanism; formulating a power distribution strategy based on the energy conservation definition, the power constraint of the alkaline electrolytic bath, the power constraint of the hydrogen storage tank and the charge state constraint of the lithium battery; a decision structure of a power distribution strategy is used as a given value of a control system, and an energy storage side adopts a control strategy of a power outer loop and a current inner loop. The hydrogen production efficiency can be improved while stable operation of the system is ensured, the hydrogen production energy consumption is reduced, and the service life of equipment is prolonged.

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 discloses a photovoltaic consumption-oriented water-fire-light combined optimization scheduling method. The method specifically comprises the following steps: establishing a constraint condition according to a water-fire optical joint debugging mode-based objective function and water-fire optical system attributes; integrating the objective function and constraint conditions to obtain a fitness function; and calculating to obtain hydroelectric power, photovoltaic power and thermal power based on the fitness function. According to the invention, the peak regulation potential of water and electricity can be fully exerted to consume photovoltaic, the peak regulation capability of thermal power is effectively utilized, the peak regulation potential of a water-fire system is fullyexerted, the photovoltaic consumption is improved, and the coordinated operation of the water-fire-light multi-source system is realized.

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 landscape lake water in-situ circulation treatment process, and belongs to the technical field of landscape water circulation purification. The process consists of a surface runoff collecting tank, an ecological percolation tank, an enhanced purification unit, a circulating power system and a landscape lake water main water area. The surface runoff collecting tank is located at the lowest position of the surrounding terrain of a landscape lake and communicated with the ecological percolation tank; the ecological percolation tank is located on the outermost circle of the landscape lake; the enhanced purification unit is arranged in a water inlet area of the landscape lake; and the circulating power system is located in the center of the landscape lake water main water area. Sponge concrete is used as a building material of structures such as the surface runoff collecting tank and the ecological percolation tank, and good conditions are provided for filtration and purification of lake water. The process is suitable for various urban landscape lakes, realizes in-situ circulation treatment of the lake water of the landscape lakes according to the characteristics and pollution conditions of the urban landscape water body and the green, ecological and environment-friendly design concepts, improves the water quality of the lake water of the landscape lakes, and has the advantages of low cost, simplicity in operation, sustainable development and the like.

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.

The invention discloses a machine and a method for producing and assembling an electric power installation accessory pull-wire hoop, which relates to the technical field of sheet metal processing, and includes a vibrating plate, an assembling case, an arrangement and conveying component, a feeding plate, a base, and a guide plate. The vibrating plate is provided with At the highest position of the electric power installation accessories cable hoop production and assembling machine, the bottom of the vibrating disc is provided with a vibrating disc frame support. In the present invention, the arrangement conveying components and the feeding board are fixedly arranged at right angles, and the conveyor belts in the arrangement conveying components transport the hoops on the supplying board to the slot position of the supporting frame of the assembling case at equal intervals. The wheel mechanism makes the hoop at the notch position stay for a short time, and pushes the two bolts into the connecting hole of the hoop synchronously through the two parallel transmission chains in the assembling case to realize automatic assembly and improve the installation efficiency of the hoop. .