2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)最新文献
{"title":"Response of a 25 kV AC railway traction system to lightning current transients and mitigation measures","authors":"M. L. Tlhabanyane, C. Gomes","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377245","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377245","url":null,"abstract":"This paper presents the design, simulation and analysis of the distribution of lightning current and transient voltage in a 25 kV AC railway traction system. Consequently, the lightning protection system that may mitigate the adverse effects due to possible lightning strikes has been designed. The Mpumalanga- Richards Bay Coal line in South Africa has been considered for the analysis. The railway system is modelled, consisting of a mast, an insulator applying a back flashover control mechanism, overhead catenary wires, a pantograph, an AC locomotive and the rails. The main component of protection is the surge arrester that is designed using the PincetiGiannetoni model. The surge arrester is rated at 30 kV, with a nominal discharge current of 10 kA. The complete system is modelled and simulated in PSCAD software. The simulations are performed to detect the transient response of critical components of the system when lightning current is injected at locations of exposure, namely; the mast, catenary wires and the pantograph, in the absence and presence of surge arresters. The results show a significant decrease in the peak current and voltage of the selected components when surge arresters are connected.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115158553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"The Effect Of Cable Length On Ferroresonance In Low-Loss Distribution Transformers","authors":"A. Abdi, J. Walker, J. S. Djeumen","doi":"10.1109/saupec/robmech/prasa52254.2021.9377234","DOIUrl":"https://doi.org/10.1109/saupec/robmech/prasa52254.2021.9377234","url":null,"abstract":"Ferroresonance is a phenomenon that occurs in low loss transformers under certain conditions. Recent developments have led to the introduction of amorphous core materials in distribution transformers to reduce the no-load losses that, in turn, have led to an increase in the occurrence of ferroresonance. In this article, the effects of the ferroresonance phenomenon on low loss distribution transformers are investigated. The simulation model was performed via ATPEMTP and the overvoltage of ferroresonance triggered by single phase-to-earth and two-phase in the system was simulated and analysed. Also, the critical cable lengths for the incidence of the phenomenon of ferroresonance are determined.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"96 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120979283","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cebisile Mthabela, D. Withey, Chioniso Kuchwa-Dube
{"title":"RRT based path planning for mobile robots on a 3D surface mesh","authors":"Cebisile Mthabela, D. Withey, Chioniso Kuchwa-Dube","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377014","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377014","url":null,"abstract":"Path planning is one of the fundamental problems in robotics. Due to the advancement in technology, the application of mobile robots has increased in recent years, not only in the field of robotics, but also in other domains such as computational biology, computer animation and aerospace. Path planning in high dimensional environments for mobile robots is known to be computationally challenging, but since the introduction of the sampling-based planning algorithms such as rapidly exploring random tree (RRT) and probabilistic roadmap (PRM), solving high dimensional path planning problems has became easier. In this paper, we present a mesh-based RRT path planning approach. Connecting RRT tree nodes on a nonplanar surface mesh requires the computation of geodesics, shortest length paths on the mesh, which can create a high computational load. The proposed method reduces the number and length of geodesics on the mesh. Simulation results show that this method finds a feasible path faster than the basic RRT on the mesh.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124995642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Casper Coetzer, Taryn Becker, Nicholas West, W. Leuschner
{"title":"Investigating an Alternate Detector for Solar-blind Ultraviolet Cameras for High-Voltage Inspection","authors":"Casper Coetzer, Taryn Becker, Nicholas West, W. Leuschner","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377216","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377216","url":null,"abstract":"Most Solar-blind Ultraviolet corona cameras used for high-voltage inspection typically utilizes Image Intensifier and charge coupled devices or CMOS, which is a frame based detector technology. A camera with an alternate detector technology that produces in a pulse and imaging format was investigated. The advantages include the prove of the direct relation between the electrical partial discharge pulses and optical signal, as well as the detection of spurious DC discharges.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130317997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Financial Feasibility of Solar PV within eThekwini Municipality- Residential Customers","authors":"S. Sewchurran, I. Davidson","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377220","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377220","url":null,"abstract":"Rising electricity tariffs, electricity shortages and reducing costs of solar PV systems in South Africa has made investment in solar PV a lucrative option to many residential customers. However, revenue loss is a major concern to municipalities who have historically designed residential single rate bundled tariffs which relies on the municipality selling electricity to ensure business sustainability. Municipalities have come up with many new proposed tariffs structures to try and counteract the impact of reduction in electricity sales. This is done by implementing net metering tariffs with a network access charge component, based on the customer’s inverter size. An investigation was carried out to better understand the impact to the feasibility of a residential solar PV system with and without the implementation of these new net billing tariff as well as its impact on the customer’s payback periods. The eThekwini Municipality’s proposed residential net billing tariff is utilized for this case study.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114759379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Power Electronic Starter Motor Emulator for Investigating Battery Behaviour","authors":"Kevin J. Fourie, J. V. Schoor, L. Masisi","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377209","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377209","url":null,"abstract":"This paper is concerned with the design, implementation and testing of a power electronic starter motor emulator for investigating starter motor impact on lead-acid based batteries. A programmable load circuit topology is developed in to generate the cranking load profile of the starter motor. Cranking current waveform profile of a 1. 2L Fiat Punto was measured and was used for the study. Further two cranking waveforms were generated from the measured waveform by varying the second peak, trough and waveform period of the of the original load waveform. Measurement systems were also incorporated to monitor the device’s thermal stability as well as various battery parameters. The key findings of the work suggest that the peak current magnitude is a contributing factor in degrading battery state of health. Furthermore, a resistive strain ratio within the starter motor waveform is found to be related to battery failure. The emulator proved to be highly robust, sustaining over 25 000 discharge waveforms. The emulator achieved a peak current of 386 A and can dissipate 220W at 75°C.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133662031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Welcome to SAUPEC/RobMech/PRASA 2021","authors":"","doi":"10.1109/saupec/robmech/prasa52254.2021.9377215","DOIUrl":"https://doi.org/10.1109/saupec/robmech/prasa52254.2021.9377215","url":null,"abstract":"","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132713621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Performance impact of network conditions on an IIoT system.","authors":"R. Bock, K. Uren, G. V. Schoor","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377219","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377219","url":null,"abstract":"Advances in smart manufacturing and industry 4.0 have drawn the interest of the industry. The rise in popularity of internet of things and cyber-physical systems in a manufacturing environment meant the broader connection of devices, servers, sensors and actuators within the closed-loop control. The use of existing communication networks such as computer networks and the internet to connect controllers, sensors, and actuators introduces different communication behaviours to the typical closed-loop control. This article examines the impact of different network conditions on the performance of a control process using a remote system controller. Network conditions examined are network node location of the remote controller, latency, packet delay variance (jitter) and packet loss.An industrial plant is emulated through a system of electric motors. The emulated system uses both local controllers and a remote controller. A local controller is responsible for direct control and monitoring of a motor including failsafe features for the motor. The remote controller is responsible for control over the whole interconnected system.The performance impact of different network conditions is measured for a system with and without delay mitigations implemented. As network conditions worsen, the performance of the system degrades in a linear and sometimes quadratic fashion. The relationship between system response time and network latency is slightly quadratic, the relationship between jitter and system response time is linear, and the relationship between packet loss and system response time is quadratic.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116851610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Modelling and Simulation of a DC-excited Vernier Reluctance Machine as a Synchronous Condenser","authors":"M. Mabhula, Abraham Botes, M. Kamper, U. B. Akuru","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377222","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377222","url":null,"abstract":"The paper presents techniques of analysing and predicting performance for a DC-excited vernier reluctance machine as a synchronous condenser, to ensure accuracy in experimental measurements. The techniques involves finite element based models on which machine performance parameters can be calculated. The models can be used to determine the field current performance characteristics of the machine. It is shown that the presented techniques give a good performance prediction of the machine operated as a synchronous condenser when compared to experimental measured results. Furthermore, the techniques can be used in the synthesis of different types of machines when operated as synchronous condensers.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129984808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Battery Tripping Unit for Space Constrained Substation Container Applications","authors":"Johan Venter, D. van Niekerk","doi":"10.1109/SAUPEC/RobMech/PRASA52254.2021.9377212","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA52254.2021.9377212","url":null,"abstract":"Protecting power and distribution equipment from major faults will aid in preventing infrastructure damage and unnecessary power supply losses. Battery operated tripping units are used to open (trip) or re-close HT breakers in a substation during power supply failures. Short bursts of high currents from a battery bank in the substation switch room is used to energize open and close coils of HT breakers. A proposed 30 V, 10 A charger with an adequate battery bank can be an ideal sized unit for HT breaker tripping applications in a space constrained substation container (750 mm x570 mm x280 mm), placed in remote areas. To ensure easy unit access and serviceability, the batteries, control system and battery charger power module are all integrated into a single enclosed mountable cabinet unit. The dimensions and mass of the proposed housing cabinet was minimized to optimize space utilization and easy mobility. The housing cabinet can then be wall mounted or even placed on the floor, allowing it to be easily moved in the substation from one location to another. The PC board is also conformal coated to protect against corrosion due to humidity and a properly designed solder mask avoids unintentional short circuits. The battery charger makes use of a thyristor controlled full-wave bridge rectifier to charge the battery bank and will also include appropriate diagnostic faultfinding warning alarms. The proposed 30 V, 10 A battery charger system addresses some shortcomings of current battery charger implementations at remote substations, especially when the system is required to operate at higher ambient temperatures. This proposed battery charger system makes it possible to use up to 25 nickel cadmium cells or 15 lead acid cells to continuously supply 30 V at 10 A for fast charging and/or standing loads or both. In addition, several features have been added to assist technicians in determining potential battery charger faults in order to reduce breakdown times.","PeriodicalId":442944,"journal":{"name":"2021 Southern African Universities Power Engineering Conference/Robotics and Mechatronics/Pattern Recognition Association of South Africa (SAUPEC/RobMech/PRASA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130132609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}