在智能电网环境下,提出了一种家庭能源管理系统框架和优化调度算法。根据室外温度预测值、可再生能源功率输出预测值、日前电价信号和用户偏好,算法对可调度用电负载、电动汽车、储能系统的运行进行优化调度从而最小化用户用电费用。算法考虑了电动汽车在高电价时段通过V2H(vehicle to home,V2H)功能向负载供电的情形,采用情景分析法处理室外温度和可再生能源功率输出预测的不确定性。通过仿真实验验证了算法性能,结果表明与只对负载或家庭能源管理系统部分组成部件进行优化调度的算法相比,所提算法显著降低了用电费用。
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
当前,高频换流器实时仿真在仿真精度和仿真灵活性上难以兼顾。为此采用了基于FPGA+PC的实时多速率协同仿真方法,全面展示了多速率协同仿真系统的仿真原理,以及硬件设计与实现。在30 k Hz/50 k Hz三相两电平逆变算例仿真的研究中,呈现了换流器建模、算例模型分割和电路求解器实现。以离线精确模型为基准,将多速率协同仿真平台与PC实时仿真平台的实验结果从仿真波形、仿真误差及实时性方面进行比较。结果表明,在开关频率50 k Hz以下多速率仿真的速率转换误差收敛,电磁暂态仿真欧式范数误差达到1%左右,仿真平台仿真步长达到500 ns。该方法提高了高频换流器实时仿真精度、减小了仿真步长,为高性能协同仿真平台的设计提供了参考。
