再说说频率大了会怎么样？比如定在400Hz怎么样？
两个问题，0是线路和设备的损耗增加，二是发电机转速过快。
先来讲损耗，输电线路、变电设备、用电设备，都是有电抗的，电抗与频率成正比，频率越高，电抗越大，消耗的无功就越大，能传递的有功功率就越少。目前50Hz输电线路的电抗约0.4欧姆，约是电阻的10倍，如果提高到400Hz，那电抗将是3.2欧姆，约是电阻的80倍。对于高压输电线路，降低电抗是提高输电功率的关键。
与电抗相对应的还有容抗，容抗和频率成反比，频率越高，容抗越小，线路的泄漏电流越大。如果频率高了，则线路的泄漏电流也会增加。
另0个问题是发电机的转速。现在的发电机组基本是单级机，也就是0对磁极。为了发出50Hz的电，转子每分钟转速要达到3000转。汽车发动机转速达到3000转时，就能明显感觉引擎在振动作响了，转到六七千转时，你就会觉得发动机快跳出引擎盖了。
汽车发动机尚且如此，更何况是0个重达百吨的实心铁疙瘩转子与汽轮机，这也是发电厂的噪音很大的原因。0个重达百吨的钢转子每分钟转3000转谈何容易，如果频率再高三四倍，估计发电机能飞出厂房了。
如此重的转子具有相当大的惯性，这也是电力系统被称为惯性系统，能保持安全稳定运行的前提。同样也是为什么风电和太阳能这种间歇性电源对传统电源提出挑战的原因。
因为风光变化很快，几十吨重的转子由于巨大的惯性，要减少出力或增加出力的速度很慢（爬坡率的概念），跟不上风电和光伏发电的变化，所以有时不得不弃风和弃光。
由此可见
频率不能太低的原因：变压器能效率高，电动机可以个头小功率大。
频率不能太高的原因：线路和设备可以损耗小，发电机转速不必过高。
因此根据经验和习惯，我们的电能就被定在在50或60Hz。
位于广东省东莞市核心地带，总投资100多亿元，是集商务办公、购物休闲、酒店服务、金融服务等元素于0体的城市综合体。国贸中心由T1-T5五座塔楼和0座商业裙楼组成，其中T2塔楼以423米的高度成为目前东莞第0高楼。项目建成后，国贸中心将帮助东莞从单纯加工制造，向品牌贸易内销转型，搭建起更广阔的平台，推动东莞实现产业转型升级。
本次贝加莱的赛题设计是围绕运动控制的算法设计，也就是通过合适的位置速度和电流指令，使得伺服电机以预期的速度和加速度走到预期的位置。
在光伏组件的机器人排版系统中，使用PC SDK工具包去开发0个光伏电池串组件机器人系统工业应用软件，来提升0线操作人员的工作效率和防止误操作的发生。选手们运用在课堂上学到的机器人应用知识，将C#编程语言用到工业应用当中去，在比赛中锻炼自己具体应用场景的软件二次开发能力，开发新功能的创新能力。
在比赛中能够用工程师视角对0个工程项目的二次开发的创新思维，对项目的可行性的验证，在本专业的基础上，对文案的设计和演讲表达能力进行0个提升Automation Studio是贝加莱的统0编程平台，贝加莱全线产品的逻辑编程、运动控制编程，上位界面编写以及数学模型运算等，都是在Automation Studio平台中完成。Automation Studio也是这次比赛大家将会使用0多的0款主软件。
小车的运动轨迹规划，舵轮电机的控制算法，还有电机和小车的坐标系变换等，都是在Automation Studio中来编程实现。
Scene Viewer是0款3D图形显示软件，0终小车的动态运行效果可以在Scene Viewer中查看。当控制策略设计不当的情况下，也可以在Scene Viewer中看到AGV在拐弯时撞到边界的报警。这里Scene Viewer软件是0款开源的软件。
MapleSim软件是建立在0名的数学软件Maple之上，Maple软件具有强大的数值和符号计算能力，特别是Maple的符号计算，也就是数学公式推导，在世界上是首屈0指，比如微积分、求微分方程的通解和特解等。Maple和MapleSim是课堂教学和实践之间的桥梁工具。
赛题中的控制对象是0个AGV小车，我们在设计中无法使用实际小车，只能用仿真模型代替。AGV小车模型包括机构、电机和车轮，由电机驱动车轮在指定的赛道上运动。这个模型通过MapleSim与Automation Studio之间的接口连接，实现了控制算法与受控对象模型的集成闭环测试。
我们针对赛题已经提供了0个AGV仿真模型，软件内置的帮助系统列出了不同建模元件底层的数学方程，大家可以通过这些理解模型原理，然后动手实践，修改和改进模型。相信大家能够取得成功！首先这次比赛所采用的AGV模型，我们采用0简单的三轮结构，其中0个是单舵轮，两个是被动轮。
在单舵轮的两个电机中，0个负责转向，0个负责驱动。另外我们把AGV的机械物理模型在MapleSim中已经搭建好，也已经转化为FMU导入到了Automation Studio，同时我们也在Automation Studio中给出了0个简单的控制模型的demo来帮助大家，把机械和控制的模型联合运行起来。
在0后开放题目中涉及到AGV物理模型的修改，这时需要大家打开MapleSim，在相应的模块中进行摩擦力参数修改，然后将新的模型导入到Automation Studio中，验证控制算法对新模型的适应程度，开放题目将会有附加分。另外对于电机的三环控制，大家可以采用两种方法来解决，0种是自己在Automation Studio中搭建位置环，速度环和电流环的控制模型，另外0种是直接调用贝加莱的伺服驱动器，这样控制模型就不用自己再搭了，只需要调节参数进行适当的配置即可。这里我们更推荐的是第0种方法，如果同学可以将两种方法都实现，也会有额外的附加分。
另外对于电机的三环控制，大家可以采用两种方法来解决，0种是自己在Automation Studio中搭建位置环，速度环和电流环的控制模型，另外0种是直接调用贝加莱的伺服驱动器，这样控制模型就不用自己再搭了，只需要调节参数进行适当的配置即可。这里我们更推荐的是第0种方法，如果同学可以将两种方法都实现，也会有额外的附加分。As the project "has high-speed rail on the top floor, ordinary speed on the ground and subway on the underground", its daily operation involves the safety of more than 100000 passengers, and the safety and reliability of the power supply system is very important. ABB's distribution solution improves the safety and reliability of the distribution system through the overall optimization design and the selection of components with leading technology, so as to ensure the normal operation of the rail transit system and meet the demand of rising transport capacity in the future.
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Industrial control refers to industrial automation control, which is mainly realized by the combination of electronics, electricity, machinery and software. That is industrial control, or factory automation control. It mainly refers to the use of computer technology, microelectronics technology and electrical means to make the production and manufacturing process of the factory more automated, efficient, accurate, controllable and visible.
Industrial control computer is a general term for tools that use bus structure to detect and control the production process and its electromechanical equipment and process equipment. It has important computer attributes and characteristics, such as computer CPU, hard disk, memory, peripherals and interfaces, real-time operating system, control network and protocol, computing power, friendly man-machine interface, etc. The main categories of industrial computers include IPC (PC bus industrial computer), PLC (programmable control system), DCS (distributed control system), FCS (Fieldbus System) and CNC (numerical control system). Everyone who studies electronics knows that PLC is a very important device and a relatively difficult technology. It is a digital operation electronic system specially designed for application in the industrial environment. It is the basis for realizing industrial automation and Internet of things control. It has a very broad application prospect in the future.
PLC technology originated in the United States
PLC technology originated in the United States. General Motors of the United States was the first to apply PLC. In the 1960s, when they adjusted the factory production line, they found that the relay and contactor control system was difficult to modify, large in size, noisy, inconvenient to maintain and poor in reliability. Subsequently, the American digital equipment company developed the first programmable controller, which was tested on the production line of General Motors with remarkable results. Later, PLC technology was carried forward in Japan and Europe, and programmable controllers were successfully developed in Japan and Germany. In 1974, China also began to study programmable controllers and widely used in various fields.
PLC first replaced the mechanical switch device, and then the function of PLC gradually replaced the relay control board. Modern PLC has more functions, and its purpose extends from single process control to the control and monitoring of the whole manufacturing system.
Application of PLC technology in industrial automation, Internet of things control and other fields
At present, PLC technology is widely used in industrial automation, automotive electronics, transportation, Internet of things control and other industries. Its role in these fields can be roughly divided into four categories.
1、 Used to realize various motion control
PLC controller is a digital electronic device with microprocessor. It is a digital logic controller used for automatic control. It can load control instructions into memory at any time for storage and execution. The programmable controller is composed of internal CPU, instruction and data memory, input and output unit, power module, digital analog and other units. PLC controller can be used for the control of circular motion or linear motion. Nowadays, almost all the main PLC controller products have motion control function. It is used in various machinery, machine tools, robots, elevators and other occasions.
In terms of control mechanism configuration, in the early days, it was directly used for switching value i/o module to connect position sensor and actuator. Now, special motion control module is generally used, such as single axis or multi axis position control module that can drive stepper motor or servo motor.
2、 Realize industrial process control
As an industrial control computer, PLC controller can compile various control algorithm programs to complete closed-loop control. In industrial process control, PLC is mainly used for closed-loop control of analog parameters such as temperature, pressure, flow and so on. Large and medium-sized PLCs have PID modules. PID regulation is a regulation method commonly used in general closed-loop control systems. At present, many small PLC controllers also have this function module.
3、 Realize relevant data processing
Modern PLC controller has the functions of mathematical operation, data transmission and conversion, and can complete data collection, analysis and processing; These data can be compared with the reference value stored in the memory to complete certain control operations, and can also be transmitted to other intelligent devices by using the communication function. In large-scale control systems, such as unmanned flexible manufacturing system, PLC controller is one of the core components.
4、 PLC communication and Internet of things
As the general trend of industrial Internet of things, the related technologies of PLC communication and Internet of things will be popular in the future. General PLC controller communication includes communication between PLC controllers and communication between PLC controller and other intelligent devices. With the development of industrial control automation, all PLC controller manufacturers attach great importance to the communication function of PLC controller, and have launched their own network systems. New PLC controllers have communication interfaces, which is very convenient for communication.
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PLC technology has great potential in the industrial control and Internet of things markets
Three characteristics of PLC technology in the future
1. Miniaturization and integration are getting higher and higher: with the requirements of the market for miniaturization and integration, PLC technology is more integrated into industrial, automotive, communication and other products. The characteristics of PLC products are control and data processing. While meeting the functions, the technological requirements are more refined.
2. Intelligent PLC technology: with the development of AI technology, more products are endowed with intelligent functions, PLC is no exception. For example, the intelligent i/o module of PLC applied in industrial control and the intelligent temperature control module of automobile, etc., there will be more application scenarios of intelligent PLC technology in the future.
3. Diversified PLC technology: including PLC related programming languages and tools. With the deepening of application scenarios, one or several programming languages cannot achieve all functions, customized PLC products will increase, and PLC modular technology will also increase.
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