Abstract: The present disclosure relates to a method for generating a novel impedance configuration for a three-degree-of-freedom (3DOF) leg of a hydraulically-driven legged robot. The method includes: separately determining variations of input signals of an inner position-based control loop and an inner force-based control loop of a hydraulic drive unit of each joint based on an obtained mathematical model; generating a novel impedance configuration in which position-based control is performed on a hydraulic drive unit of a hip joint, and force-based control is performed on hydraulic drive units of a knee joint and an ankle joint in a hydraulic drive system of the leg of a to-be-controlled robot; and performing forward calculation by using the leg mathematical model, to obtain an actual position and a force variation of the foot of the leg of the to-be-controlled robot to control motion of the foot of the to-be-controlled robot within motion space.

Abstract: The invention discloses a high impermeability and low thermal conductivity inorganic lightweight foam concrete and its preparation method, including the following mass fraction of raw materials: 1260˜1540 parts of ordinary silicate cement, 20˜60 parts of nano-silica, 460˜740 parts of fly ash, 360˜440 parts of aggregate, 9˜11 parts of redispersible latex powder, 7.2˜8.8 parts of polypropylene fiber, 27˜33 parts of quick-setting agent, 500 parts of fluorine-free foam, 900˜1100 parts of water. 33 parts, 500 parts of fluorine-free foam, 900˜1100 parts of water. The high impermeability and low thermal conductivity inorganic lightweight foam concrete prepared by the present invention has a simple formulation, good workability, light weight and low thermal conductivity, and is suitable for the construction of thermal insulation system for building exterior walls.

Abstract: The present invention discloses a unit commitment method considering security region of wind turbine generators with frequency response control, and the main steps are: 1) determining security region of wind turbine generators when provides frequency response; 2) based on the security region of the wind turbine generators when provides frequency response, establishing a unit commitment model considering security region of wind turbine generators; and 3) calculating the unit commitment model considering the security region of the wind turbine generators by using mixed-integer linear programming method, and obtaining the operation result of the unit commitment considering the security region of the wind turbine generators with frequency response control. The present invention can be widely used in the setting of frequency response parameters of wind turbine generators dispatched in the prior art and the start-stop and output plans of synchronous generator.

Abstract: The present invention discloses a unit commitment method considering security region of wind turbine generators with frequency response control, and the main steps are: 1) determining security region of wind turbine generators when provides frequency response; 2) based on the security region of the wind turbine generators when provides frequency response, establishing a unit commitment model considering security region of wind turbine generators; and 3) calculating the unit commitment model considering the security region of the wind turbine generators by using mixed-integer linear programming method, and obtaining the operation result of the unit commitment considering the security region of the wind turbine generators with frequency response control. The present invention can be widely used in the setting of frequency response parameters of wind turbine generators dispatched in the prior art and the start-stop and output plans of synchronous generator.