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Tian Y.,Shanghai University | Chen Z.,Shanghai University | Jia T.,Shanghai Electrical Group Co. | Wang A.,Shanghai Electrical Apparatus Research Institute Group Co. | Li L.,Shanghai University
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 | Year: 2016

Collaborative robots share the same workspace with humans, and it is inevitable that the robot will contact with humans or environments, so the importance of robot collision detection and end-effector contact force estimation has been receiving much attention. The conventional collision detection methods are based on extra sensors, which are not only increase cost but also increase the complexity of robot control system. This paper presented collision detection and contact force estimation methods without any extra sensors. Firstly, we designed a collision torque observer based on robot dynamics model and generalized momentum. Secondly, the joint friction parameters were identified using a friction torque model in the harmonic gear drive system. Finally, the system model errors were eliminated by observing the collision torque under the theoretical condition. The proposed algorithm achieved good results after considering friction factors and system model errors. The results of simulation on MATLAB and ADAMS verified that the algorithm is valid and reliable. © 2016 IEEE.


He S.,Shanghai JiaoTong University | Zheng Y.,Shanghai JiaoTong University | Cai X.,Shanghai JiaoTong University | Wu X.,Shanghai Electrical Apparatus Research Institute Group Co. | Shi S.,Shanghai Municipal Electric Power Company
Dianwang Jishu/Power System Technology | Year: 2014

Taking a certain Sci-tech Park's microgrid in Shanghai as example, an energy source management optimization method, in which three electric power resources such as distributed generation, energy storage system and shiftable load are included, is proposed. In the proposed method firstly the output of renewable energy sources are fully consumed by the load in the park; then the controllable DGs, energy storage system and shiftable load are utilized to perform the second round optimization for the load that has been reduced. Considering the fact that there are a lot of non-linear programmings in the optimization problem, a decomposition iteration algorithm, which independently solves three kinds of controllable resources such as DG, load and energy storage by particle swarm optimization (PSO) to make the solutions of the three kinds of controllable resources closed to globally optimal solution through iterations, is put forward. Besides, in allusion to the difficulty in load prediction due to the randomness of the load in microgrid, a receding horizon optimization method is given to improve the accuracy and real-time of global optimization. The effectiveness of the given method is validated by the results of case calculation.


Zhao B.,Shanghai Acrel Co. | Hu J.-T.,Shanghai Electrical Apparatus Research Institute Group Co. | Huang W.-T.,Jiangsu Acrel Co.
Dianli Xitong Baohu yu Kongzhi/Power System Protection and Control | Year: 2012

To full in the gap that the domestic motor protector industry has not fully modular products, this paper gives the main body and measurement module design method of ARD3T motor protector. ARD3T consists of several modules, which are divided according to the product function. Each module uses internal data bus ro ralize data transmission and power supply. Design methods and typical hardware schematics of the main body and measurement module are proposed, and the precautions in the design are pointed out. Test data under various environments are given, and anti-jamming measures used by the product are provided further at the end of this paper. The test results show the correctness and rationality of the design method. The design concept is more in line with the future needs of the market.


Chen Z.H.,University of Electronic Science and Technology of China | Jin J.X.,University of Electronic Science and Technology of China | Zheng L.H.,Shanghai Electrical Apparatus Research Institute Group Co. | Wu Z.H.,CRRC Qingdao Sifang Co.
IEEE Transactions on Applied Superconductivity | Year: 2016

Higherature superconducting (HTS) technology provides an effective way to reduce energy loss in power transmission. HTS power cables have great potential in future power transmission because they have high capacity and are lossless as HTS dc cables, which allow dc transmission without ac loss, which cannot be avoided in the HTS ac transmission systems. To more effectively utilize an HTS dc cable and its transmission system, the HTS dc cable self-acting fault current limitation and self-protection feature have been investigated using the system model developed in this paper. The results obtained show that in addition to its highly efficient power transmission, the HTS dc cable with unique feature can effectively limit system short-circuit currents when short-circuit faults occur, either on the dc side or the ac side of the dc transmission system. © 2002-2011 IEEE.


Ba L.J.,University of Electronic Science and Technology of China | Jin J.X.,University of Electronic Science and Technology of China | Wu Z.H.,CRRC Qingdao Sifang Co. | Zheng L.H.,Shanghai Electrical Apparatus Research Institute Group Co.
2015 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2015 - Proceedings | Year: 2015

A HTS linear synchronous generator (HTSLSG) as a direct-drive wave energy converter (DWEC) has been proposed and designed, including structure design and operation mode. Advantages of the DWEC system using HTSLSG have also been verified. © 2015 IEEE.


Zheng L.H.,Shanghai Electrical Apparatus Research Institute Group Co. | Li X.Q.,Shanghai Electrical Apparatus Research Institute Group Co. | Jin J.X.,University of Electronic Science and Technology of China
2015 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2015 - Proceedings | Year: 2015

Wind power production as an important renewable energy form has been developed substantially in recent decades. According to the increase in population density along with lack of land for installation onshore wind turbines, it leads to build wind farms with larger power production and more and more offshore wind farms developed. Therefore, having a few large-scale wind turbine generators (WTGs) instead of using many small WTGs would be preferable. Nowadays, only the large-scale high temperature superconducting direct-drive wind turbine generator (HTSDD-WTG) is the best candidate for the practical application. Based on the development status, the main technologies including structure components, design challenges, characteristic and superiorities of the HTSDD-WTG have been summarized in this paper. © 2015 IEEE.


Jiang Z.Q.,University of Electronic Science and Technology of China | Jin J.X.,University of Electronic Science and Technology of China | Zheng L.H.,Shanghai Electrical Apparatus Research Institute Group Company | Wu Z.H.,CRRC Qingdao Sifang Company
IEEE Transactions on Applied Superconductivity | Year: 2016

Field coils with rectangular and step-shaped structures applied for large capacity superconducting generators are optimized based on a genetic algorithm. A detailed description of the optimization process is presented. The perpendicular magnetic field distribution and minimum critical current, $I-{{c}\-{\min}}$, of the field coils are analyzed by using the Finite Element Method. The results show that the electromagnetic characteristics of the optimized field coils are improved after optimization and that the high-temperature superconductor tape consumption is also reduced. © 2002-2011 IEEE.


Lu J.,Hebei University of Technology | Li K.,Hebei University of Technology | Du T.,Hebei University of Technology | Ji H.,Shanghai Electrical Apparatus Research Institute Group Co.
Diangong Jishu Xuebao/Transactions of China Electrotechnical Society | Year: 2012

Molded case circuit-breakers (MCCB) is one of the widely used low-voltage electric apparatus and its reliability has great influence on the electric equipment and the power grid. The operation reliability test, instantaneous protection reliability test and overload protection reliability test are analyzed in this paper. The reliability compliance test plan of MCCB is drawn out according to λ max, β or R min, β. That the overload protection test should be conducted under specified ambient temperature to ensure the accuracy and consistency of the test results is put forward. The test items of the sample in the reliability test of MCCB are analyzed and especially the test method and test items in the reliability test are specified. The test procedure of reliability test of MCCB is presented, and the reliability compliance test plan, the test sample numbers and so on are determined combined with practical examples.


Zhang J.,North China Electrical Power University | Luo Y.-L.,North China Electrical Power University | Chen W.-H.,Shanghai Electrical Apparatus Research Institute Group Co. | Yao B.-L.,Shanghai Electrical Apparatus Research Institute Group Co.
Dianji yu Kongzhi Xuebao/Electric Machines and Control | Year: 2011

This paper discusses how to obtain the minimal torque value of line-start permanent magnet synchronous motor(LSPMSM) starting process considering the saturation, harmonic and skin effect on the impact of torque curve. Firstly the starting process speed-torque curve was obtained using field-circle-motion coupled time-stepping finite element method. In order to obtain the minimal torque value from rapidly fluctuating curves which torque versus speed or time, this paper presented a novel data processing method, using which it can get the minimal torque with calculating a starting process only once. Finally, this paper studied the different calculation conditions on the effects of the minimal torque. The proposed method in this paper can be applied to the minimum torque value calculation of the permanent magnet motor, and it also can be used as a reference for the minimum torque test.


Ye Q.,Shanghai Electrical Apparatus Research Institute Group Co.
Diangong Jishu Xuebao/Transactions of China Electrotechnical Society | Year: 2011

In order to research measurement uncertainty of electromagnetic compatibility (EMC) tests comprehensively, this paper takes the specified evaluation process of two types of typical EMC tests-conducted disturbance on power ports and radiated, radio-frequency, electromagnetic field immunity test as examples, from the latest changes of requirements for measurement uncertainty of EMC emission and immunity standards, and in company with information from those important test specification files, gives essential assessment points and component explanations of these two tests respectively. Finally, summarizes the main characters and difficulties for EMC measurement uncertainty's assessment.

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