117 results about "Inertial control" patented technology

The invention relates to a control system for participation of a wind power plant in primary frequency modulation and an implementation method. The controls system is composed of modules such as a wind power unit data acquisition unit, a wind power unit inertia calculation unit, a wind power unit inertia control unit, a wind power unit primary frequency modulation processing unit, a telecontrol communication control unit, a wave recording and analyzing unit and a frequency disturbance unit. According to the invention, participation in primary frequency modulation of a power grid is performed in a mode of wind power plant station-level active power coordination control in allusion to actual characteristics of the new energy resource of wind power, not only frequency droop control is considered, the rotary inertia of a wind power unit is utilized at the same time, output of the wind power unit is increased when the system frequency fluctuates and exceeds the threshold, participation in primary frequency modulation is performed quickly within a certain time under the condition of not increasing additional energy storage equipment, the action of a fan is played to the maximum degree, and purposes of reducing the amplitude of variation in system frequency and participating in quick recovery of the power grid frequency are achieved. The control system provided by the invention is applicable to application occasions in which the wind power plant participates in primary frequency modulation of a system.

A rotorcraft with two counter-rotating rotors and method for inertially controlling the rotorcraft. The rotorcraft includes a hinged frame configured such that at least one inter-rotor angle of the two counter-rotating rotors is controlled by at least one actuated hinge of the hinged frame and the rotational axes of the two counter-rotating rotors are substantially collinear when the actuated hinge is in a fully open position. The sum of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the lift of the rotorcraft. The difference of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the yaw of the rotorcraft. The at least one inter-rotor angle is varied using the at least one actuated hinge to control the pitch and / or roll of the rotorcraft.

A Head-tracker is built into a headset computer as a user input device. A user interface navigation tool utilizes the head tracking but with inertial control. The navigation tool is formed of two different sized circles concentrically depicted, and a pointer. The pointer is moveable within the two circles defining inner and outer boundaries. The pointer represents user's head position and movement sensed by the head tracker. The HSC displays a document and pans (navigates) the document as a function of user head movement sensed by the head tracker and illustrated by the navigation tool. The direction of movement of the pointer depicted in the navigation tool defines pan direction of the displayed document. Pan speed of the displayed document is defined based on position of the pointer, with respect to the inner and outer circle boundaries in the navigation tool.

The invention discloses a virtual double-fed induction generator inertia control method coordinated with secondary frequency regulation, which solves the problem of cooperation between the virtual inertia control of a wind turbine generator and the secondary frequency regulation of a power system. On the basis of an original virtual inertia control module, a module which is coordinated with the secondary frequency regulation of a power system is added, so that the overall frequency regulation effect is increased. Moreover, in the added module, the rotational speed of the rotor of the wind turbine generator is considered, so that the wind turbine generator can continuously operate within a safe rotational speed range; the problem of the affection of system frequency fluctuation on the active regulation capability of the wind turbine generator is solved; because the affection of system frequency fluctuation on the active regulation capability of the wind turbine generator is great, in order to ensure that the double-fed induction generator has better frequency regulation capability, the steady-state frequency response of the wind turbine generator is optimized, and moreover, accordingly, a control strategy is designed, so that the frequency regulation effect of the wind turbine generator is increased to a certain degree.

A power generation system having a wind turbine blade assembly, a generator mechanically coupled to the blade assembly, and a power converter coupled to the generator is provided. An energy storage device and a bidirectional converter coupling the energy storage device to the power converter are also provided in the system. An inertia controller is provided for generating a first transient signal to regulate active power from the wind turbine system when a power grid signal is outside of a respective signal range. The system further includes an energy storage controller for providing a second transient signal to the bidirectional converter to regulate a power to or from the energy storage device based upon the first transient signal, power generating system conditions or combinations thereof.

The invention discloses a method for controlling a wind turbine to participate in power grid frequency modulation based on virtual inertia and a pitch angle. The method comprises the following steps:when a frequency deviation exists between the rated power of a system power grid and the current frequency, calculating a proportionality factor of a tracking curve of the sub-optimal rotating speed-active power of the wind turbine under the control of the virtual inertia; calculating a reference power of an inverter at a rotor side under the control of the virtual inertia; calculating an introduced electromagnetic power at the rotor side inverter according to the frequency change rate, and accumulating the introduced electromagnetic power and the reference power to obtain a total electromagnetic power of the rotor side inverter; calculating the rotating speed deviation of the wind turbine, and adopting the rotating speed deviation of the wind turbine to calculate the electromagnetic powervariation of the rotor side inverter; obtaining an active power of a pitch angle mechanism according to the total electromagnetic power and the electromagnetic power variation, and calculating the pitch angle of the pitch angle mechanism by adopting the active power of the pitch angle mechanism; and controlling the wind turbine to increase captured wind energy and inject the active power into thepower grid according to the pitch angle.

The invention discloses a wind farm direct current grid connection and direct current transmission source net coordination control method. The wind farm direct current grid connection and direct current transmission source net coordination control method comprises steps that LCC-HVDC additional control is additionally provided, and power-frequency slope characteristics provided with dead zones and inertia control are introduced in LCC-HVDC rectifier station fixed power control, and then transmitted power is capable of responding to frequency of a sending-end power grid; VSC-HVDC additional control is additionally provided; draught fan additional control is additionally provided, and active-frequency slope characteristic and the inertial control are introduced in draught fans, and then active power output by the draught fans is capable of responding to changes of WFVSC side frequencies; coordination of controllers is additionally provided, proper motion dead zones are arranged, and then the various controllers are coordinated. By increasing the power-frequency statistic characteristic coefficient and the inertia response coefficient of the system of the sending-end power grid, the inertia of the sending-end power grid is increased, and the frequency stability of the system is improved.

Systems and methods for inertially controlling a hovering unmanned aerial vehicle (HUAV) are provided. One inertial controller includes a frame and a sensor for detecting a change in an orientation and / or motion of the frame with respect to a predetermined neutral position. The inertial controller also includes a processor for generating commands to the HUAV to modify its current orientation and / or motion in accordance with the change. A system includes the above inertial controller and a sensor for determining a second change for an orientation and / or motion for the HUAV based on the change, and a processor for generating a signal commanding an HUAV control system to orient and / or move the HUAV in accordance with the second change. One method includes detecting a change in an orientation and / or motion of an inertial controller frame and commanding the HUAV to modify its current orientation and / or motion in accordance with the change.

The invention relates to a self-adaptive dynamic virtual inertia frequency modulation method for a double-fed variable-speed pumped storage unit, and the method is suitable for a combined island system comprising the variable-speed pumped storage unit and a wind generating set. The method comprises the steps: starting the inertia response of the variable-speed pumped storage unit through an inertia control starting module; detecting the frequency deviation value change rate df / dt, introducing a correction factor to change the control coefficient, and automatically controlling the active outputof the unit, thereby achieving a purpose that the double-fed variable-speed pumped storage unit can provide dynamic frequency support for a power grid; stopping the inertia response of the variable-speed pumped storage unit through an inertia control stop module. When a system frequency accident occurs, compared with traditional droop control and fixed parameter virtual inertia control, the method can effectively improve the lowest frequency drop point of the system, reduce the frequency drop speed and reduce the frequency stabilization time by dynamically compensating the machine-side reference power of the double-fed converter, and has better inertia supporting capability and primary frequency modulation response capability for the power system.

The invention discloses a primary frequency modulation control method and system for a wind power plant. A wind power plant power distribution strategy by using overspeed load shedding control is used. The method comprises the steps that: after a wind power plant receives a system scheduling instruction, power requiring load shedding is calculated according to wind speed information fed back by all wind turbine generators, a power reference value and a load shedding control mode are distributed to all single machines, rotor kinetic energy of the wind turbine generators is stored to the maximumextent, and the frequency dynamic characteristic of a system is improved; and a variable parameter control strategy is utilized in frequency modulation control, the control strategy can ensure that afan can release the maximum standby power in the frequency modulation process, and the recovery speed after frequency drop is increased. It is guaranteed that each fan sufficiently releases standby power in the frequency modulation process, and a frequency steady-state value is effectively increased. The change of an inertia control coefficient can effectively improve the recovery speed of the frequency.

The invention provides a method for enabling a wind power unit to participate in primary frequency modulation of a power system at different bands, relates to a technology for enabling the wind power unit to participate in primary frequency modulation of a power network and aims at solving the problem of the contradiction between the wind farm economy and the frequency modulation capacity when the wind power unit participates in primary frequency modulation. The method comprises the steps of firstly separating a high-frequency signal and a low-frequency signal in the power network by using a high-pass filter and a low-pass filter respectively; introducing an inertial control link and a droop control link into the wind power unit and setting an operation mode according to a current wind curtailment condition of a wind farm, wherein the operation mode is an optimal power tracking mode or a suboptimal power tracking mode; and finally calculating electromagnetic power reference values under two operation modes respectively, enabling the electromagnetic power reference values to act on a rotor converter and completing the process that the wind power unit participates in primary frequency modulation of the power system at different bands. According to the method provided by the invention, the target that the wind power unit participates in primary frequency modulation of the power system to the maximum extent when output is not lost is achieved, and the method is suitable for frequency modulation of the wind power unit.

The invention is a control apparatus for a personal vehicle, in particular for wheelchair (10), the control apparatus comprising: a first motion sensing unit (11) adapted for being mounted on a body part and for determining orientation with respect to an external frame of reference, a second motion sensing unit (12) adapted for being mounted on the personal vehicle and for determining orientation with respect to the same external frame of reference, and a processing unit (13) adapted for outputting an inertial control signal corresponding to a relative orientation of the first motion sensing unit (11) and of the second motion sensing unit (12) determined on the basis of a first orientation supplied by the first motion sensing unit (11) and of a second orientation supplied by the second motion sensing unit (12). The invention is furthermore a personal vehicle provided with the control apparatus, and a control method therefore.

The present invention discloses a voltage and current double closed loop control method and device of an adjustable invertor inertial effect. In the frame of the routine voltage and current double closed loop control, the inertial current component is added in an inverter current inner ring instruction to realize the equivalent control of the inverter inertia property and is indirectly generated through an inertial control system connected in parallel on the voltage outer ring. The inertial control system is formed by three parts connected in series, wherein the three parts include a low pass filter, a proportional controller and a differential arithmetical unit. The size of the inertial current component and the intensity level of the grid-connected inverter inertial effect can be flexibly controlled through the proportional controller in the inertial control system. The voltage and current double closed loop control method of the adjustable invertor inertial effect does not need to change the hardware portion of the current grid-connected inverter system, completely maintains the current basic control frame of the software portion, has good compatibility, can be applied to a double-fed wind turbine system and a photovoltaic power generation system, and has good engineering application values.

The invention discloses a wind turbine generator microgrid operation virtual inertial control system based on a virtual synchronous generator technique and a wind turbine generator microgrid operation virtual inertial control method based on virtual synchronous generator technique. A conventional achievement of a virtual synchronous generator technique is adopted, virtual inertia of a fan set, virtual inertia of an energy storage device and VSG (Voltage Sag Generator) inertia response are mutually matched by adding a sag characteristic and designing an energy storage device self-control algorithm and a power setting module, and the problems that a virtual inertia algorithm is coupled with a maximum wind energy tracking algorithm and is hard to compatible with an energy storage algorithm are effectively solved. By adopting the system, various sudden air speed and load variations can be effectively solved, the frequency discontinuity amplitude of an alternative-current side is limited, the self-adjusting capability of a micro network system is improved, and the contribution of an air wind electric field to source network load system stability and frequency adjustment is improved. In addition, measures of speed increase or decrease are not needed in advance, no pitch angle control is needed, and the utilization rate of an energy storage device and the utilization rate of wind energy are effectively increased.

The invention discloses an inertial control active suspension control system based on vehicle posture deviation, which comprises a vehicle body, an inertial measurement unit, a plurality of wheels, suspension servo actuating cylinders corresponding to the wheels one by one, and a displacement sensor, an electronic control unit and a servo controller group. When the number of wheels in the group ismore than 1, the upper cavity and the lower cavity of the suspension servo actuating cylinders of the wheels in the group are communicated respectively, so that the wheels in the group become a fulcrum for jointly supporting the vehicle body. Three groups of wheels form three fulcrums, the invention controls the posture of the vehicle body according to the principle that three points determine aplane, according to the changes of vertical displacement, pitch angle and roll angle of the vehicle center of mass, the expansion and contraction of each suspension servo actuator cylinder are controlled, so that the vehicle center of mass moves along a straight line or an arc line and the vehicle posture remains unchanged as far as possible, so that the vibration of the vehicle body is reduced, and the speed, the handling stability and the ride comfort of the vehicle are improved when the vehicle is traveling on the complex road surface.

The field of the invention is that of solid-state laser gyros used in inertial control units. However, there are certain technical difficulties in producing laser gyros of this type that are due partly to the fact that the counterpropagating waves interfere with each other in the amplifying medium. A laser gyro according to the invention comprises at least one solid-state amplifying medium and an optical ring cavity comprising first optical means for imposing a first linear polarization state common to the two counterpropagating optical waves at the entrance and exit of the zone containing the amplifying medium and second optical means for imposing, within the amplifying medium, a second linear polarization state on the first optical wave and a third linear polarization state on the second optical wave, these polarization states being perpendicular. Thus, all the drawbacks associated with interference are eliminated.

The invention discloses a coordinated control method for a water hammer effect of a wind power compensation hydraulic turbine. The coordinated control method includes the steps of S1, judging whetherthe change amount of a grid frequency is greater than a given value, and if so, performing a step S2; S2, a fan responding to the change in the grid frequency, and based on a virtual inertia control link, obtaining a first compensation power reference value Pf; S3, judging whether the guide vane opening of a hydraulic turbine changes, and if so, performing a step S4; S4, the fan responding to thechange of the guide vane opening of the hydraulic turbine, and based on a new additional control link, obtaining a second compensation power reference value P[mu]; and S5, acquiring the fan compensation power reference value total amount PTe-ref according to the first compensation power reference value Pf and the second compensation power reference value P[mu]. With the coordinated method of the virtual inertial control and the new additional control, the fan sends out a power shortage for compensating the water hammer effect, the deterioration of the grid frequency is effectively suppressed,and secondary fluctuations in the grid frequency caused by the water hammer effect can be avoided.

An access system for a building structure includes an access opening formed in the structure and a horizontally oriented track extending across the opening. Panels are slidably mounted on the track. A pulley—track system opens and closes the panels. The system is controlled with a manually operated control panel mounted on the building structure.

The invention discloses a control strategy for assisting a new energy power station to participate in system frequency modulation through energy storage, and belongs to electric power generation field, the invention aims to provide a control strategy with advantages of inertia control and droop control, and different control strategies can be adopted to adjust the output of the energy storage system in different time periods of frequency modulation; the method comprises the following steps: (1) dividing system frequency change into different time periods: recording a moment when the system frequency fluctuates and exceeds an allowable range as t0, recording a moment when the frequency fluctuation reaches a maximum value as tm, and recording a moment when the frequency gradually recovers toa normal range as ts; (2) taking t0 as a moment when energy storage starts to participate in primary frequency modulation, and adopting inertia control to participate in power grid frequency modulation in energy storage based on an inertia control model at a stage from t0 to tm; and in the tm to ts stages, converting the control mode of energy storage into droop control from inertia control. Theoutput of the energy storage system can be adjusted by adopting different control strategies in different frequency modulation periods, and the frequency modulation effect is better by shortening thefrequency response time of the system.

The invention provides a low-frequency oscillation suppression strategy design method for a multi-machine system by a photovoltaic power station based on the VSG technology. The method comprises the steps of establishing a multi-machine system mathematical model containing the photovoltaic power station; establishing a VSG control strategy model of the grid-connected inverter of the photovoltaic power station by simulating a rotor motion equation of a synchronous generator; designing a self-adaptive virtual inertia control strategy for the VSG control strategy model of the grid-connected inverter of the photovoltaic power station; and designing a WPSS low-frequency oscillation suppression strategy based on wide-area signal control in the VSG control strategy model of the grid-connected inverter of the photovoltaic power station according to a power system stabilizer equipped for a power generator set. According to the invention, low-frequency oscillation in the multi-machine system andpower low-frequency oscillation on a tie line are suppressed.

The invention discloses a virtual inertia control system of an independent wind storage DC micro-grid. By the control system, potential energy of rotating equipment in a wind-power DC micro-grid is fully developed; DC bus voltage is associated with rotating speed adjustment of a permanent-magnet direct-driven wind turbine generator set; and electromagnetic power of a PMSG is quickly adjusted in a system disturbance by employing the rapidity of power electronic control, so that the rotating speed of a rotor of a permanent magnet synchronous motor changes, the energy in the rotor is released or absorbed and the inertia of the independent DC micro-grid is improved. By a virtual inertia control strategy disclosed by the invention, the voltage stability of the DC micro-grid can be improved, charge-discharge current of a storage battery can also be improved, the storage battery is protected and the service lifetime of the storage battery is prolonged.

The invention provides a self-adaptive virtual inertia frequency modulation control method for a flexible direct-current power transmission system. The control method comprises the following steps of:firstly, realizing secondary frequency modulation of an alternating-current side system by controlling a reference value of active power in droop control; secondly, enabling virtual inertia power tobe equal to capacitor charging and discharging power, and establishing a coupling relationship between a direct-current voltage reference value and the active power; adopting self-adaptive virtual inertia control adjusted according to a fitting hyperbolic tangent function, reducing an inertia coefficient when a direct-current voltage is close to a limit value, thereby preventing the direct-currentvoltage from exceeding the limit value; and increasing the inertia coefficient when the direct-current voltage is far away from the limit value, thereby making the frequency more stable. With the method adopted, the overshoot in the secondary frequency modulation process is reduced, the frequency recovery of an instantaneous fault is facilitated, the frequency stability of an AC system is improved, and the stability of an interconnection system is improved.

The invention discloses an inertia comprehensive control method for a power generation system comprising a controllable inertia wind power generator set. The method comprises the steps that whether power gird frequency of a grid-connected point changes is judged, monitoring continues if the judgment result is no, the position of the grid-connected point of the controllable inertia wind power generator set is judged if the judgment result is yes, and active increment deltaP<f> is judged as (the expressions are described in the specification) if the position is at a feed end, or active increment deltaP<f> is judged as (the expressions are described in the specification). Compared with conventional inertia control, the corresponding inertia adjustment method can be adopted according to the geographic position of an area in which a wind power plant is positioned so that two control functions of participating in power grid frequency adjustment and increasing system damping are possessed, and adverse influence caused by introduction of negative damping in frequency modulation of conventional virtual inertia control is eliminated. The size of inertia of the system of the subarea in which the wind power plant is positioned can be flexibly changed by the interconnected power grid with the help of the wind power plant so that inertial support and damping power oscillation capability can be enhanced and dynamic stability of the system can be enhanced.

The invention discloses a frequency modulation method, a device, a device and a medium of a wind turbine generator system. Under the ultra-low wind speed mode, the frequency modulation is controlled by a flywheel energy storage frequency modulation control module. In the low wind speed mode, the flywheel energy storage module still participates in frequency modulation, the overspeed load sheddingcontrol in the integrated load shedding control module plays a role, and the droop control and virtual inertial control participate in frequency modulation. In medium wind speed mode, overspeed load shedding control and variable pitch control are used to control frequency modulation, sag control and virtual inertia control. In high wind speed mode, variable pitch control FM, droop control and virtual inertia control are used to control FM. Frequency modulation is realized by coordinating and coordinating all kinds of control links under different wind speed modes, so that the frequency of thepower network is stable.

The invention discloses a control method for realizing pressure and frequency regulation of wind turbine generator. Based on the control system of original wind power converter, the method adds pressure and frequency regulation ring of droop control and virtual inertial control. The realization of the project is quite simple and easy to operate, to make the wind turbine generator able to provide certain reactive and active power support in state grid fault, which improves stability of the system.

The invention discloses a time-sharing coordination control method and a time-sharing coordination control system for MPPT operation of a PMSG fan, and relates to the technical field of wind power generation. The main points of the invention are that constant direct-current voltage control of a power grid side converter controls frequency modulation of the PMSG fan according to a direct-current voltage reference value; the fixed power control of the generator side converter controls the frequency modulation of the PMSG fan according to the power reference value after the virtual inertia control of the rotor is added; the fixed power control of the generator side converter controls the PMSG fan to modulate frequency according to the new power reference value after droop control is added; according to the frequency deviation range covered by the DC capacitor virtual inertia control, DC capacitor electrostatic energy participates in frequency adjustment through the DC capacitor virtual inertia control, and rotor kinetic energy participates in the priority of frequency adjustment through the rotor virtual inertia control and the self-adaptive droop control. The wind energy lost by thefan due to participation in frequency adjustment can be reduced, the utilization rate of the wind energy is increased, the wind energy lost by the fan due to frequency modulation is reduced, and time-sharing coordination control is superior to simultaneous coordination control.