Motion planning of mobile robots in indoor environments

摘要

Continuous monitoring of power quality on key points of utility systems has become an important strategic issue in deregulated power markets. System measurements are supplemented with on-site measurements that are conducted as a part of a troubleshooting procedures or surveys of large disturbance sources influence onto distribution systems. A concept of a power quality measurement device based on relevant standards, noted shortcomings of commercial devices and projected activities is given in this thesis. A prototype of a portable power quality measurement device is realized. In addition to standards, the prototype is equipped with current measurement inputs and methods for load current, power and power factor registration in four-quadrant manner, current harmonics, inrushes and scope screen-saving functions. Due to a study of major factor influence on a measurement uncertainty, a model for noise and error propagation in effective values and harmonics measurement chain was developed. All prerequisites of standard IEC 61000-4-30 and complementary standards for class B instruments are fulfilled. Exception is a flickermeter function that is not implemented. Laboratory tests proved measurement accuracy and error propagation model fitness. Practical values of advanced functions are shown in presented on-site measurements. Modularity in a hardware and software layer and well-structured data allows easy and efficient readjustment of developed measurement platform.