Active inverter output filtering methods

Frequency converters are widely used in the industry to enable better controllability and efficiency of variable speed AC motor drives. Despite these advantages, certain challenges concerning the inverter and motor interfacing have been present for decades. As insulated gate bipolar transistors entered the market, the inverter output voltage transition rate significantly increased compared with their predecessors. Inverters operate based on pulse width modulation of the output voltage, and the steep voltage edge fed by the inverter produces a motor terminal overvoltage. The overvoltage causes extra stress to the motor insulation, which may lead to a prematuremotor failure. The overvoltage is not generated by the inverter alone, but also by the sum effect of the motor cable length and the impedance mismatch between the cable and the motor. Many solutions have been shown to limit the overvoltage, and the mainstream products focus on passive filters. This doctoral thesis studies an alternative methodology for motor overvoltage reduction. The focus is on minimization of the passive filter dimensions, physical and electrical, or better yet, on operation without any filter. This is achieved by additional inverter control and modulation. The studied methods are implemented on different inverter topologies, varying in nominal voltage and current.For two-level inverters, the studied method is termed active du/dt. It consists of a small output LC filter, which is controlled by an independent modulator. The overvoltage is limited by a reduced voltage transition rate. For multilevel inverters, an overvoltage mitigation method operating without a passive filter, called edge modulation, is implemented. The method uses the capability of the inverter to produce two switching operations in the same direction to cancel the oscillating voltages of opposite phases. For parallel inverters, two methods are studied. They are both intended for two-level inverters, but the first uses individual motor cables from each inverter while the other topology applies output inductors. The overvoltage is reduced by interleaving the switching operations to produce a similar oscillation accumulation as with the edge modulation. The implementation of these methods is discussed in detail, and the necessary modifications to the control system of the inverter are presented. Each method is experimentally verified by operating industrial frequency converters with the modified control. All the methods are found feasible, and they provide sufficient overvoltage protection. The limitations and challenges brought about by the methods are discussed.

Tunninsisäinen tehotasapaino Suomessa 2020 ja 2030

Sähkön tuotannon ja kulutuksen välillä tulee vallita tasapaino joka hetki. Tunninsisäinen tehotasapainon hallinta on kantaverkkoyhtiön vastuulla, ja se tehdään säätöresurssein. Tässä työssä tarkastellaan tunninsisäistä tehotasapainon hallintaa Suomessa 2020-luvun alussa ja loppupuolella. Työn tarkoituksena on arvioida, riittävätkö nykytilanteen mukaiset säätöresurssit kattamaan tulevat säätötarpeet ja kuinka suuria säätövajeita, eli erotuksia markkinaehtoisen säätökyvyn ja säätötarpeen välillä, mahdollisesti esiintyy. Tehotasapainon hallintaa tarkastellaan tarkemmin kuudessa esimerkki-markkinatilanteessa. Tilanteet ajoittuvat tällä hetkellä tehotasapainon hallinnan kannalta hankaliin ajankohtiin, kevään tulva-ajalle, kesän lomakaudelle ja talven huippukuormitustilanteeseen. Tarkastelutilanteiden avulla pyritäänkin selvittämään hankalimmat tilanteet, joita tehotasapainon hallinnassa 2020-luvulla voidaan kohdata. Työn tarkastelutilanteiden perusteella säätövaje voi olla suurimmillaan 200 - 1100 MW Suomessa 2020-luvulla. Tämä työ vastaa myös siihen, mitä tulisi tehdä, jotta selvittäisiin tehotasapainon hallinnasta kaikissa tilanteissa tulevalla vuosikymmenellä.

Universal Quantum Cloning

After introducing the no-cloning theorem and the most common forms of approximate quantum cloning, universal quantum cloning is considered in detail. The connections it has with universal NOT-gate, quantum cryptography and state estimation are presented and briefly discussed. The state estimation connection is used to show that the amount of extractable classical information and total Bloch vector length are conserved in universal quantum cloning. The 1  2 qubit cloner is also shown to obey a complementarity relation between local and nonlocal information. These are interpreted to be a consequence of the conservation of total information in cloning. Finally, the performance of the 1  M cloning network discovered by Bužek, Hillery and Knight is studied in the presence of decoherence using the Barenco et al. approach where random phase fluctuations are attached to 2-qubit gates. The expression for average fidelity is calculated for three cases and it is found to depend on the optimal fidelity and the average of the phase fluctuations in a specific way. It is conjectured to be the form of the average fidelity in the general case. While the cloning network is found to be rather robust, it is nevertheless argued that the scalability of the quantum network implementation is poor by studying the effect of decoherence during the preparation of the initial state of the cloning machine in the 1 ! 2 case and observing that the loss in average fidelity can be large. This affirms the result by Maruyama and Knight, who reached the same conclusion in a slightly different manner.

Stiffness based trajectory planning and feedforward based vibration suppression control of parallel robot machines

The dissertation proposes two control strategies, which include the trajectory planning and vibration suppression, for a kinematic redundant serial-parallel robot machine, with the aim of attaining the satisfactory machining performance. For a given prescribed trajectory of the robot's end-effector in the Cartesian space, a set of trajectories in the robot's joint space are generated based on the best stiffness performance of the robot along the prescribed trajectory. To construct the required system-wide analytical stiffness model for the serial-parallel robot machine, a variant of the virtual joint method (VJM) is proposed in the dissertation. The modified method is an evolution of Gosselin's lumped model that can account for the deformations of a flexible link in more directions. The effectiveness of this VJM variant is validated by comparing the computed stiffness results of a flexible link with the those of a matrix structural analysis (MSA) method. The comparison shows that the numerical results from both methods on an individual flexible beam are almost identical, which, in some sense, provides mutual validation. The most prominent advantage of the presented VJM variant compared with the MSA method is that it can be applied in a flexible structure system with complicated kinematics formed in terms of flexible serial links and joints. Moreover, by combining the VJM variant and the virtual work principle, a systemwide analytical stiffness model can be easily obtained for mechanisms with both serial kinematics and parallel kinematics. In the dissertation, a system-wide stiffness model of a kinematic redundant serial-parallel robot machine is constructed based on integration of the VJM variant and the virtual work principle. Numerical results of its stiffness performance are reported. For a kinematic redundant robot, to generate a set of feasible joints' trajectories for a prescribed trajectory of its end-effector, its system-wide stiffness performance is taken as the constraint in the joints trajectory planning in the dissertation. For a prescribed location of the end-effector, the robot permits an infinite number of inverse solutions, which consequently yields infinite kinds of stiffness performance. Therefore, a differential evolution (DE) algorithm in which the positions of redundant joints in the kinematics are taken as input variables was employed to search for the best stiffness performance of the robot. Numerical results of the generated joint trajectories are given for a kinematic redundant serial-parallel robot machine, IWR (Intersector Welding/Cutting Robot), when a particular trajectory of its end-effector has been prescribed. The numerical results show that the joint trajectories generated based on the stiffness optimization are feasible for realization in the control system since they are acceptably smooth. The results imply that the stiffness performance of the robot machine deviates smoothly with respect to the kinematic configuration in the adjacent domain of its best stiffness performance. To suppress the vibration of the robot machine due to varying cutting force during the machining process, this dissertation proposed a feedforward control strategy, which is constructed based on the derived inverse dynamics model of target system. The effectiveness of applying such a feedforward control in the vibration suppression has been validated in a parallel manipulator in the software environment. The experimental study of such a feedforward control has also been included in the dissertation. The difficulties of modelling the actual system due to the unknown components in its dynamics is noticed. As a solution, a back propagation (BP) neural network is proposed for identification of the unknown components of the dynamics model of the target system. To train such a BP neural network, a modified Levenberg-Marquardt algorithm that can utilize an experimental input-output data set of the entire dynamic system is introduced in the dissertation. Validation of the BP neural network and the modified Levenberg- Marquardt algorithm is done, respectively, by a sinusoidal output approximation, a second order system parameters estimation, and a friction model estimation of a parallel manipulator, which represent three different application aspects of this method.

Sähkön varastointi

Kiinnostus sähkön varastointia kohtaan on kasvussa. Nykypäivänä ja etenkin tulevaisuudessa sähkövarastoilla voidaan parantaa energiantuotannon resurssitehokkuutta ja tukea aurinko- ja tuulisähkön käytön lisäämistä. Sähkövarastoja on pieniä ja suuria. On olemassa mekaanisia, sähkökemiallisia, kemiallisia ja sähköisiä varastoteknologioita. Varastoitua energiaa voidaan käyttää eri tehtävissä. Tehtävät vaihtelevat varastoidun energian määrässä ja siinä, millä teholla energia voidaan purkaa varastosta. Suurilla sähkövarastoilla taataan sähköntoimitus ja pienillä parannetaan sähkön laatua jakeluverkossa. Sähkövarastoja ei ole vielä laajasti otettu käyttöön, koska ne ovat kalliita. Sähkövaraston investointikustannukset ovat tällä hetkellä vähintään yhtä suuret kuin samankokoisen perinteisen voimalaitoksen. Sähkövarastojen tutkimus ja kehitys pienentää investointikustannuksia ja nopeuttaa varastojen laajempaa käyttöönottoa.

Aurinkosähkön taloudellinen kannattavuus erikoiskohteessa

Aurinkosähköjärjestelmät ovat yleistyneet viime vuosien aikana niin kotitalouksissa kuin julkisissa rakennuksissakin aurinkopaneeleiden suopean hintakehityksen myötä. Tässä kandidaatintyössä tarkastellaan aurinkosähköjärjestelmän kannattavuutta erikoiskohteessa Lapissa Tervolan kunnan alueella sijaitsevalla huoltoasemalla. Työssä aurinkosähköntuotannon ajoittumista kulutuksen suhteen lähdetään selvittämään vertailemalla simuloinnin avulla saatuja tuotantoennusteita huoltoaseman sähkönkulutusprofiiliin. Sähkönkulutusprofiilin tiedot perustuvat etäluettavan mittarin tuntikulutus mittauksiin. Investoinnin kannattavuutta tarkastellaan takaisinmaksuajan mukaan simuloinnista saatujen tuotantoennusteiden ja muiden takaisinmaksuaikaan vaikuttavien parametrien avulla. Lopuksi takaisinmaksuaikaa tarkastellaan vielä herkkyysanalyysien avulla.

Rigid body dynamics and Kalman filtering

X-ray computed log tomography has always been applied for qualitative reconstructions. In most cases, a series of consecutive slices of the timber are scanned to estimate the 3D image reconstruction of the entire log. However, the unexpected movement of the timber under study influences the quality of image reconstruction since the position and orientation of some scanned slices can be incorrectly estimated. In addition, the reconstruction time remains a significant challenge for practical applications. The present study investigates the possibility to employ modern physics engines for the problem of estimating the position of a moving rigid body and its scanned slices which are subject to X-ray computed tomography. The current work includes implementations of the extended Kalman filter and an algebraic reconstruction method for fan-bean computer tomography. In addition, modern techniques such as NVidia PhysX and CUDA are used in current study. As the result, it is numerically shown that it is possible to apply the extended Kalman filter together with a real-time physics engine, known as PhysX, in order to determine the position of a moving object. It is shown that the position of the rigid body can be determined based only on reconstructions of its slices. However, the simulation of the body movement sometimes is subject to an error during Kalman filter employment as PhysX is not always able to continue simulating the movement properly because of incorrect state estimation.

Aurinkosähköjärjestelmä pientaloon

Tässä kandidaatintyössä selvitetään aurinkosähköjärjestelmän rakentamisen kannattavuutta, teknisiä ratkaisuja sekä vaatimuksia pientaloon. Tutkimus suoritetaan tarkasteltavaan kiinteistöön aurinkosähköjärjestelmän teknisten ratkaisumahdollisuuksien sekä taloudellisesti kannattavimman mallin löytämiseksi. Työssä käydään läpi järjestelmän teknisten komponenttien rakennetta ja ominaisuuksia, niille määriteltyjä vaatimuksia sekä hintaa. Työssä myös simuloidaan eri voimalakokonaisuuksien tuotantoa voimalan koon optimoimiseksi kohteelle. Saatujen tulosten perusteella voimalan hankkiminen on vielä kallista ja takaisinmaksuajat pitkiä johtuen järjestelmän kalliista hinnasta. Tulevaisuudessa aurinkosähkö tulee olemaan kannattava investointi samalla, kun yhä enenevissä määrin energistyvässä maailmassa luovutaan fossiilisista polttoaineista niiden ympäristövaikutusten ja resurssien puutteen vuoksi. Aurinkosähkö on yksi potentiaalisista korvaajista tulevaisuudessa ja voimme odottaa järjestelmien hintojen laskevan kilpailun lisääntyessä. Myös valtion tuki tulevaisuudessa on mahdollinen pientuottajillekin.

Le totalitarisme en mouvement : propagande, politique eugénique et la création d’un « homme nouveau » dans le Troisième Reich

Le but de ce mémoire est de poser un regard comparatiste sur les conséquences éventuelles de la politique eugénique totalitaire du Troisième Reich, et ce, dans l’optique où ce régime aurait eu la chance de poursuivre ses ambitions à ce niveau. En portant respectivement notre attention sur la structure organisationnelle du NSDAP, de l’État et de l’autorité, sur les étapes spécifiques de l’établissement du totalitarisme hitlérien, sur les diverses techniques de propagande et d’endoctrinement utilisées par les nazis pour accomplir l’unification du peuple allemand, ainsi que sur l’application pratique et le discours relatif à la politique eugénique dans le Reich et sur les territoires occupés, nous comprendrons que le mouvement propre au totalitarisme hitlérien, en changeant constamment sa définition respective de l’« élite » et de l’être « dépravé », n’aurait jamais mis fin à la purge raciale de la population sous son joug. Par conséquent, la place de l’« allemand moyen » aurait été quasi inexistante. Le Troisième Reich, par élimination et élevage social constant, aurait donc créé un « homme nouveau », basé sur l’idéologie arbitraire et instable du régime et pigé dans les peuples occupés à divers degré. Au bout de plusieurs générations, cet être nouveau aurait constitué le « noyau racial » de la population d’une nouvelle Europe aryanisée, construite sur le cadavre de la plus grande partie des anciens peuples du continent, incluant le peuple allemand.

Analysis of Some Stochastic Inventory Models with Pooling/ Retrial of Customers

In this thesis we have presented several inventory models of utility. Of these inventory with retrial of unsatisfied demands and inventory with postponed work are quite recently introduced concepts, the latt~~ being introduced for the first time. Inventory with service time is relatively new with a handful of research work reported. The di lficuity encoLlntered in inventory with service, unlike the queueing process, is that even the simplest case needs a 2-dimensional process for its description. Only in certain specific cases we can introduce generating function • to solve for the system state distribution. However numerical procedures can be developed for solving these problem.

Reinforcement Learning Solution for Unit Commitment Problem Considering Minimum Start Up and Shut Down Times

Unit Commitment Problem (UCP) in power system refers to the problem of determining the on/ off status of generating units that minimize the operating cost during a given time horizon. Since various system and generation constraints are to be satisfied while finding the optimum schedule, UCP turns to be a constrained optimization problem in power system scheduling. Numerical solutions developed are limited for small systems and heuristic methodologies find difficulty in handling stochastic cost functions associated with practical systems. This paper models Unit Commitment as a multi stage decision making task and an efficient Reinforcement Learning solution is formulated considering minimum up time /down time constraints. The correctness and efficiency of the developed solutions are verified for standard test systems

Erneuerbare Energien im Verbund mit Hochleistungs-Bleiakkumulatoren zur Bereitstellung von Spitzenleistung - am Beispiel von Windkraftwerken im 20 kV-Versorgungsnetz der CEGEDEL / Luxemburg -

Die wachsende Weltbevölkerung bedingt einen höheren Energiebedarf, dies jedoch unter der Beachtung der nachhaltigen Entwicklung. Die derzeitige zentrale Versorgung mit elektrischer Energie wird durch wenige Erzeugungsanlagen auf der Basis von fossilen Primärenergieträgern und Kernenergie bestimmt, die die räumlich verteilten Verbraucher zuverlässig und wirtschaftlich über ein strukturiertes Versorgungssystem beliefert. In den Elektrizitätsversorgungsnetzen sind keine nennenswerten Speicherkapazitäten vorhanden, deshalb muss die von den Verbrauchern angeforderte Energie resp. Leistung jederzeit von den Kraftwerken gedeckt werden. Bedingt durch die Liberalisierung der Energiemärkte und die geforderte Verringerung der Energieabhängigkeit Luxemburgs, unterliegt die Versorgung einem Wandel hin zu mehr Energieeffizienz und erhöhter Nutzung der dargebotsabhängigen Energiequellen. Die Speicherung der aus der Windkraft erzeugten elektrischen Energie, wird in den Hochleistungs-Bleiakkumulatoren, errichtet im ländlichen Raum in der Nähe der Windkraftwerke, eingespeichert. Die zeitversetzte Einspeisung dieser gespeicherten elektrischen Energie in Form von veredelter elektrischer Leistung während den Lastspitzen in das 20 kV-Versorgungsnetz der CEGEDEL stellt die Innovation in der luxemburgischen Elektrizitätsversorgung dar. Die Betrachtungen beschränken sich somit auf die regionale, relativ kleinräumige Einbindung der Windkraft in die elektrische Energieversorgung des Großherzogtums Luxemburg. Die Integration der Windkraft im Regionalbereich wird in den Vordergrund der Untersuchung gerückt. Überregionale Ausgleichseffekte durch Hochspannungsleitungen der 230/400 kV-Systeme werden außer Acht gelassen. Durch die verbrauchernahe Bereitstellung von elektrischer Spitzenleistung vermindern sich ebenfalls die Übertragungskosten aus den entfernten Spitzenlastkraftwerken, der Ausbau von Kraftwerkskapazitäten kann in die Zukunft verschoben werden. Die Emission von Treibhausgasen in thermischen Kraftwerken wird zum Teil reduziert. Die Berechnungen der Wirtschaftlichkeit von Hybridanlagen, zusammengesetzt aus den Windkraftwerken und den Hochleistungs-Bleiakkumulatoren bringen weitere Informationen zum Einsatz dieser dezentralen Speichern, als Partner der nachhaltigen Energieversorgung im ländlichen Raum. Die untersuchte Einspeisung von erneuerbarer Spitzenleistung lässt sich auch in die Entwicklungsländer übertragen, welche nicht über zentrale Kraftwerkskapazitäten und Verteilungsnetze verfügen.

Filter for Car Tracking Based on Acceleration and Steering Angle

The motion of a car is described using a stochastic model in which the driving processes are the steering angle and the tangential acceleration. The model incorporates exactly the kinematic constraint that the wheels do not slip sideways. Two filters based on this model have been implemented, namely the standard EKF, and a new filter (the CUF) in which the expectation and the covariance of the system state are propagated accurately. Experiments show that i) the CUF is better than the EKF at predicting future positions of the car; and ii) the filter outputs can be used to control the measurement process, leading to improved ability to recover from errors in predictive tracking.

Wind generation's contribution to supporting peak electricity demand: meteorological insights

Wind generation’s contribution to meeting extreme peaks in electricity demand is a key concern for the integration of wind power. In Great Britain (GB), robustly assessing this contribution directly from power system data (i.e. metered wind-supply and electricity demand) is difficult as extreme peaks occur infrequently (by definition) and measurement records are both short and inhomogeneous. Atmospheric circulation-typing combined with meteorological reanalysis data is proposed as a means to address some of these difficulties, motivated by a case study of the extreme peak demand events in January 2010. A preliminary investigation of the physical and statistical properties of these circulation types suggests that they can be used to identify the conditions that are most likely to be associated with extreme peak demand events. Three broad cases are highlighted as requiring further investigation. The high-over-Britain anticyclone is found to be generally associated with very low winds but relatively moderate temperatures (and therefore moderate peak demands, somewhat in contrast to the classic low-wind cold snap that is sometimes apparent in the literature). In contrast, both longitudinally extended blocking over Scotland/Scandinavia and latitudinally extended troughs over western Europe appear to be more closely linked to the very cold GB temperatures (usually associated with extreme peak demands). In both of these latter situations, wind resource averaged across GB appears to be more moderate.

Can microgrids make a major contribution to UK energy supply?

Almost all the electricity currently produced in the UK is generated as part of a centralised power system designed around large fossil fuel or nuclear power stations. This power system is robust and reliable but the efficiency of power generation is low, resulting in large quantities of waste heat. The principal aim of this paper is to investigate an alternative concept: the energy production by small scale generators in close proximity to the energy users, integrated into microgrids. Microgrids—de-centralised electricity generation combined with on-site production of heat—bear the promise of substantial environmental benefits, brought about by a higher energy efficiency and by facilitating the integration of renewable sources such as photovoltaic arrays or wind turbines. By virtue of good match between generation and load, microgrids have a low impact on the electricity network, despite a potentially significant level of generation by intermittent energy sources. The paper discusses the technical and economic issues associated with this novel concept, giving an overview of the generator technologies, the current regulatory framework in the UK, and the barriers that have to be overcome if microgrids are to make a major contribution to the UK energy supply. The focus of this study is a microgrid of domestic users powered by small Combined Heat and Power generators and photovoltaics. Focusing on the energy balance between the generation and load, it is found that the optimum combination of the generators in the microgrid- consisting of around 1.4 kWp PV array per household and 45% household ownership of micro-CHP generators- will maintain energy balance on a yearly basis if supplemented by energy storage of 2.7 kWh per household. We find that there is no fundamental technological reason why microgrids cannot contribute an appreciable part of the UK energy demand. Indeed, an estimate of cost indicates that the microgrids considered in this study would supply electricity at a cost comparable with the present electricity supply if the current support mechanisms for photovoltaics were maintained. Combining photovoltaics and micro-CHP and a small battery requirement gives a microgrid that is independent of the national electricity network. In the short term, this has particular benefits for remote communities but more wide-ranging possibilities open up in the medium to long term. Microgrids could meet the need to replace current generation nuclear and coal fired power stations, greatly reducing the demand on the transmission and distribution network.