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Simulation
Study of a New Method to Synchronously Control Rotate Speed
and Power of
a Steam Turbine
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SHI
Xiao-ping, WANG Zi-cai
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The
frequency of the electric network will inevitably fluctuate
because of rotate speed variation of a steam turbine, while its
classical regulation system is accomplishing matching between
its power and the referenced electric load. A new method is
developed to synchronously control rotate speed and power of a
steam turbine with pole placement technique of linear system.
With this new control method, not only the rotate speed of a
steam turbine can be controlled according to its instruction
curve, but also its power can be synchronously controlled to
quickly track the electric load without additional component of
the frequency regulation. The computer simulation verifies the
correctness and the effectiveness of the presented new control
method.
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Study
and Simulation of Manipulator Kinematic Solution at Singular
Configurations
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HU
Zhun-qing, FANG Hai-rong, FANG Yue-fa
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A
new approach to the singularity analysis of manipulators is
presented. The joint axis linear dependence is determined by
using classified line varieties, so that not only the singular
configurations of the manipulator can be identified but also
the specific axes becoming linearly dependent can be
recognized. The task space feasible motions are identified by
using reciprocal screws. By isolating the linear dependent
columns and rows in the Jacobian matrix, the corresponding
singular Jacobian matrix is simplified from 6×6 to 5×5, so
that the exact solutions for the manipulator are obtained near
singular configurations. In the end, some simulation results
for PUMA manipulator are given to demonstrate the
effectiveness of this method.
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