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This article introduces the double-circuit Direct Current system on the same tower, and then analyses the hierarchical structure of the double-Circuit Direct Current Control System Based on PSCA. For the power control, the double-circuit power coordinated control strategy and the low-load reactive power control strategy are made in-depth research and analysis, and then made a simulation model of the double-circuit coordination of the double-circuit DC system on the same tower based on PSCA. Finally, based on the existing dual-circuit power control function of the system, it can reduce the ground electrode current and maintain the reactive power balance of the converter station to optimize the distribution coefficient of the two-circuit DC power, and effectively increase the reactive power in the conversion process.

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The focus of this paper is the problem of walking stability control in humanoid robot going upstairs. Walking stability is a very important problem in the field of robotics. Lots of researches have been done to get stable walking on plane. But it is very limited on going upstairs. We first plan the gate of ankle and hip when going upstairs as well as the calculation of stable region and stability margin. Then the emergency-coping strategy of enlarging the support polygon is provided. At last, a control system which is proved to be effective by simulation is presented. If the ZMP is in the support polygon, this control system makes fine setting to gait to get higher stability. If the ZMP is out of the support polygon, the control system adjusts the location of ZMP through the emergency coping strategy.