Integrated energy distribution system(IEDS)is one of the integrated energy and power system forms,which involves electricity/gas/cold/heat and other various energy forms.The energy coupling relationship is close and c...Integrated energy distribution system(IEDS)is one of the integrated energy and power system forms,which involves electricity/gas/cold/heat and other various energy forms.The energy coupling relationship is close and complex.IEDS is the focus of regional energy internet research and development at home and abroad.Compared with the traditional power distribution system,IEDS through the multi-energy coupling link comprehensive utilization,effectively improve the distribution system economy,safety,reliability,flexibility and toughness,but also to ease the regional energy system environmental pressure.IEDS is an important direction for the future development of energy systems,and its related research and practice on China’s energy system development also has important practical and strategic significance.This paper summarizes the related researches of the IEDS and explores the energy operation characteristics and coupling mechanisms.What’s more,the integrated model of IEDS is summarized.On these bases,this paper discusses and prospects some key issues such as joint planning,optimization control and security analysis,state estimation and situational awareness and generalized demand side management.展开更多
Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and el...Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.展开更多
基金This work was supported by the National High Technology Research and Development Program(863 Program)of China(2015AA050403)Natural Science Foundation of Tianjin(17JCQNJC06600)+2 种基金Independent Innovation Foundation of Tianjin University(Research on Key Technology of Distributed Demand Response)Ocean Engineering Equipment and Technical Think Tank Joint Project of Qingdao(201707071003)the Distributed Energy and Microgrid Project conducted in collaboration with APPLIED ENERGY UNiLAB-DEM.
文摘Integrated energy distribution system(IEDS)is one of the integrated energy and power system forms,which involves electricity/gas/cold/heat and other various energy forms.The energy coupling relationship is close and complex.IEDS is the focus of regional energy internet research and development at home and abroad.Compared with the traditional power distribution system,IEDS through the multi-energy coupling link comprehensive utilization,effectively improve the distribution system economy,safety,reliability,flexibility and toughness,but also to ease the regional energy system environmental pressure.IEDS is an important direction for the future development of energy systems,and its related research and practice on China’s energy system development also has important practical and strategic significance.This paper summarizes the related researches of the IEDS and explores the energy operation characteristics and coupling mechanisms.What’s more,the integrated model of IEDS is summarized.On these bases,this paper discusses and prospects some key issues such as joint planning,optimization control and security analysis,state estimation and situational awareness and generalized demand side management.
基金supported by National Natural Science Foundation of China(Grant No.51375289)Shanghai Municipal National Natural Science Foundation of China(Grant No.13ZR1415500)Innovation Fund of Shanghai Education Commission of China(Grant No.13YZ020)
文摘Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.
