WO2012016202A2 - Fast-cycling, conduction-cooled, quasi-isothermal, superconducting fault current limiter - Google Patents
Fast-cycling, conduction-cooled, quasi-isothermal, superconducting fault current limiter Download PDFInfo
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- WO2012016202A2 WO2012016202A2 PCT/US2011/045994 US2011045994W WO2012016202A2 WO 2012016202 A2 WO2012016202 A2 WO 2012016202A2 US 2011045994 W US2011045994 W US 2011045994W WO 2012016202 A2 WO2012016202 A2 WO 2012016202A2
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- current limiter
- fault
- limiter
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- resistance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
- H02H9/02—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess current
- H02H9/023—Current limitation using superconducting elements
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N60/00—Superconducting devices
- H10N60/30—Devices switchable between superconducting and normal states
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F6/00—Superconducting magnets; Superconducting coils
- H01F6/04—Cooling
Definitions
- the present application is in the field of electrical energy distribution and more particularly related to current limiters for mitigating faults therein.
- Fault Current Limiters are devices for protection of components and parts of electrical distribution networks.
- the role of a FCL is to act as a fast switching element, much faster than existing circuit breakers.
- the FCL is introduced into the power distribution network in series with a load. If the load shorts, a high current would be generated; the high current has the capacity to damage other devices in the network.
- the FCL is activated once the load shorts and the high current is initiated.
- the FCL once activated, acts to suppress the large current transient and thus protect other devices.
- Conventional fault current limiting technology leaves considerable room for improvement in both cost and timeliness of the responsive to faults.
- inductive FCLs themselves come in many designs; the simplest is a transformer with the primary in series with the load and a closed superconducting ring as the secondary. In un-faulted operation, there is no resistance in the secondary and so the inductance of the device is low. A fault current quenches the superconductor (SC), the secondary becomes resistive and the inductance of the whole device rises, increasing the impedance of the primary winding and limiting the fault. While many variants of the inductive type limiters exist, the main advantage of this design is that there is no heat ingress through current leads into the SC, and so the cryogenic power load may be lower. However, inductive FCL typically require substantially more superconductor wire than resistive type, leading to comparatively larger AC losses as well as initial capital costs.
- a resistive FCL can be either DC or AC. If it is AC, then there will be a steady power dissipation from AC losses (superconducting hysteresis losses and possibly eddy current losses) which must be removed by the cryogenic system.
- An AC FCL is usually made from wire wound non-inductively; otherwise the inductance of the device would introduce an unwanted, parasitic impedance.
- Rapid response and recovery time are essential elements to FCL viability.
- FCL Yttrium barium copper oxide
- YBCO Yttrium barium copper oxide
- MgB 2 Magnesium diboride
- cryo- cooling systems have also been proposed, but as designed, these will have long recovery times relative to the limited fault (typically hours).
- the system disclosed in this work describes a low cost system which does not need liquid cryogen (instead using conduction-cryocooling), has low operating AC loss, and have fast recovery.
- an FCL is enabled by a superconducting component.
- this superconducting component In order to work properly, this superconducting component must be maintained at cryogenic temperatures.
- Two promising superconducting materials for FCL use are YBCO and MgB 2 .
- YBCO can operate in liquid nitrogen (77 K), while MgB 2 must operate at 20-30 K.
- the lower temperature operation of MgB 2 had been seen as a disadvantage due to the costs associated with achieving the required temperature range, but the low cost of MgB 2 relative to YBCO (an order of magnitude lower cost for MgB 2 per unit volume) makes MgB 2 based systems competitive.
- Disclosed embodiments describe a liquid cryogen free, conduction cooled, fast acting, resistive, superconducting fault current limiter, including an input node, an output node, a first impedance element (which is variable in its impedance) coupled between the input node and the output node, the first element, which is a superconductor, having an impedance which can be variable under either temperature or electric field; this first element being imbedded in a sheath of a second impedance element of a material, having a resistance R 2 , which acts in parallel.
- a third current path (with a third impendence), also called a shunt may also be present, having resistance R 3 , also coupled between the input node and the output node.
- the first impedance element and the second element are kept at cryogenic temperature through conductive cooling eliminating the necessity of liquid cryogen.
- Disclosed embodiments describe FCLs wherein: the limiter relies on the current limitation-switching properties of a superconductor, rather than the temperature switching properties of a superconductor, with this switching mode possible even with the choice of conduction cooling.
- Disclosed embodiments describe FCLs wherein: the ratio of the resistance of the third element to the resistance of the first and second elements in parallel is sufficiently low enough during fault that the temperature rise in the first and second impedance elements are zero at the end of the recovery after a fault, and the recovery time is on the order of seconds or some few minutes.
- Disclosed embodiments describe FCLs wherein :the resistance of the first and second impedance elements are sufficiently high that the current flow and energy deposition are sufficiently low that the temperature rise as measured after the recovery of the fault is zero, and the recovery time is on the order of second or some few minutes.
- a current limiter wherein the superconductor is selected from the group consisting of MgB 2 , cuprate superconductors, high-temperature superconductors, and the pnictides.
- a current limiter wherein the second impedance element, the sheath, is chosen from the group comprising monel, Cu-Ni alloys, stainless steel or other ductile, resistive non-magnetic metal
- the current limiter further comprising a cryo-cooler adapted to conductively cool the first and second impedance element.
- a current limiter wherein the cryo-cooler is selected from the group comprising: pulse tube, Gifford-McMahon, and Brayton cycle cryo-coolers.
- a current limiter further comprising a switch, the switch adapted to uncouple the coil from the input node and the output node.
- a current limiter wherein the sheath is comprised of a material selected from the group comprising: high resistance transition metals, stainless steel, and nickel-based alloys.
- FIGURE 1 is a schematic showing a superconducting fault current limiter in electric network environment.
- FIGURE 2 is a schematic of an embodiment of a FCL in an electrical network.
- FIGURE 3 is a cross-section of an embodiment of a wire for a FCL.
- FIGURE 4 is a schematic fault current limiter system with cryocooler and conduction heat path shown.
- FIGURE 5 is a diagram of an embodiment of an FCL.
- FIGURE 6 shows fully or nearly fully transposed "braid" of monofilaments of round wire superconducting strands.
- FIGURE 7 is a schematic of a multi-filamentary strand with high permeability, low loss (soft) ferromagnetic shields around each filament for loss mitigation and manufacturing cost reduction.
- FIGURE 8 shows self field magnetic fields contained within filamentary magnetic sheaths.
- FIGURE 9 is a schematic of an example of a coil cross section with embedded strands transferring heat.
- FIGURE 10 is a graph showing the temperature rise for various elements during fault scenario, manifestation 1 .
- FIGURE 11 is a graph showing the temperature rise for various elements during fault scenario 2, manifestation 2.
- FIGURE 12 is a detail of coil winding, showing heat storage and thermal diffusion distance.
- FIGURE 13 is a flowchart detailing an embodiment of design parameters for a FCL.
- Disclosed embodiments describe a system where conduction and cryo- cooling are used to remove the energy from the fault. Moreover, disclosed embodiments describe methods to do this with fast recovery, as compared to existing designs using conduction-cryo-cooling. Disclosed embodiments also describe devices and systems which require the coil's resistance to be sufficiently high that only the amount of energy that can be removed by a cryo-cooler within the desired recovery time is allowed into the cryogenic part of the system.
- the system uses an inexpensive medium temperature superconductor as its basis, and thus should be more cost competitive than systems based on High temperature superconductors (HTSC).
- HTSC High temperature superconductors
- the system allows a medium temperature SC to be used in a system which employs conduction cooling by a cryo-cooler only, and has a rapid recovery time.
- Conventional FCL systems use liquid cryogen to cool the coils, disclosed embodiments avoid the use of liquid or gas cryogen to directly cool the coils, minimizing cryogen handling, pressure build-up, and the cost associated with extensive cryogenic engineering of these devices.
- the use of liquid cryogen-free cooling had been seen as impractical previously, due to the longer times that would have been necessary to remove the excess energy deposited in the SC during fault.
- Disclosed embodiments unlike conventional resistive FCL systems which rely on temperature based ( T > T c ) superconducting transition to act as the switching mode, use a current based transition to establish a resistive switching state.
- the wire (SC and sheath in parallel) to be used should have maximal resistance per unit length at the operating temperature of the device. This resistance must be properly chosen to be as high as possible, but not so high as to lead to a quench at the electric fields to be put on the wire during fault conditions.
- Disclosed embodiments describe systems and devices designed for minimum recovery time.
- embodiments incorporate choices for minimum complexity of the cooling system as well. MgB 2 does not operate within the range of a convenient liquid coolant, in disclosed embodiments, all heat is removed conductively.
- Disclosed embodiments describe: a resistive type superconducting fault current limiter that is fast cycling and conduction cooled; a resistive type superconducting fault current limiter that relies on the current limitation switching properties of a superconductor, rather than the temperature switching properties of a superconductor, with this switching mode possible even with the choice of conduction cooling; a resistive type superconducting fault current limiter that is fast acting, and does not use liquid cryogen, and requires no gas handling during a fault event; a resistive type superconducting fault current limiter where the resistance of the wire as a whole (elements 1 and 2 in parallel) are sufficiently high that the temperature rise in the wire is very small as measured at the end of the recovery time (either zero for the first manifestation, or 1 -2 K for the second manifestation), and in principle, for the first manifestation, any number of immediate repeat faults is possible; or a resistive type superconducting fault current limiter where an external shunt resistor is used and where the ratio of the energy deposition
- FIGURE 1 shows the typical, simple schematic of a fault current limiter in an electrical circuit.
- Disclosed embodiments describe a method of controlling fault currents with in a power (utility) grid comprising: coupling a superconducting electrical path between a first and a second node within the power grid, superconductor wire or strand consisting of a superconducting core, and an outer highly resistive outer sheath, both at cryogenic temperature, in parallel with a non- superconducting electrical path between the first and second node within the utility power grid, the non-superconducting electrical path is outside the cryogenic vessel and is at ambient temperature.
- the superconducting electrical path first impedance element
- the sheath second impedance element
- the non- superconducting electrical path third impedance element
- the resistance and/or impedance of the sheath of the wire is large, specifically sufficiently large that the energy deposition within it based on the prospective fault conditions is such that the temperature rise of the first impedance element is small, and this will typically make it much greater than the resistance and/or impedance of the non-superconducting electrical path.
- the resistance of the wire is in particular set to be such that the energy deposition is limited such that the temperature rise in the superconductor during any fault event can remain as low as possible.
- a fully equivalent criterion (for recovery time) can be achieved (with or without a shunt resistor) by considering the set operating conditions, the specified fault conditions, and the input voltage, and setting the superconducting coil to have a sufficiently high impedance that the energy deposition during fault is sufficiently low that the temperature rise is minimal, and thus the recovery is fast.
- This above discussion will be seen to apply to a first manifestation of the disclosed embodiments, as more fully described below.
- the resistance of the wire/coil (first and second elements) can be somewhat lower, if the additional energy can be stored in a highly thermally conductive heat storage device, a thermal mass, for intermediate time energy storage.
- FIGURE 2 shows a schematic of a circuit diagram.
- the FCL device 100 is connected in a network.
- the load 15 is an impedance of a network branch from a power source 16 to be protected by the FCL device.
- the FCL 100 is includes a with a dump resistor 1 10 the dump resistor is also referred to as a third impedance element.
- the superconductor 120 filament is a mono-core superconductor covered with a sheath material 130 and optionally insulated by an insulator (not pictured). Then the FCL coil can be electrically modelled as a parallel connection of wire, cladding and dump resistor.
- FIGURE 3 is a schematic of the geometry of an exemplary strand.
- the superconductor filament 120 sits in the center, surrounded by the sheath material 130 and the optional insulator 140 along the length of the strand.
- the superconductor filament is MgB 2
- the sheath is chosen from the group comprising monel, Cu-Ni alloys, stainless steel or other ductile, resistive nonmagnetic metal
- the optional insulator is Kapton.
- FIGURE 4 shows a schematic fault current limiter system with cryocooler and conduction heat path shown.
- the fault current limiter inside of an exemplary cold-box.
- the figure shows a cross-section of an exemplary FCL coil with wires 105 wound non-inductively around a former 200.
- the former is comprised of a high-heat capacity, thermally conductive material that is readily machinable, suitable materials include non-magnetic steel, brass, copper and Cu-Ni alloys.
- the cryo-cooler 300 is in thermal communication with the former 200.
- the cryocooler is chosen from the group including pulse tube, Gifford-McMahon, and Brayton cycle cryocoolers.
- Disclosed embodiments describe a system wherein one variant has, during fault conditions, the resistance and/or impedance ratio of the coil to the third element to be greater than 50; wherein the ratio is greater than 500; and wherein the ratio is greater than 1000.
- disclosed embodiments describe a system where the resistance of the superconductor in parallel with its sheath (the superconducting coil), while in the fault state, are such that the energy deposited during the fault, approximately ⁇ 3 ⁇ 4.
- FIGURE 5 shows an embodiment of a FCL 100.
- the wires 105 are wound non-inductively around a former 200.
- the wires are wound such that full transposition occurs such as in a braid.
- the former is in thermal communication with an optional second thermal mass 210.
- Figure 6 shows a diagram of disclosed embodiments which describe FCLs wherein a monofilament superconductor wire is in a transposed or braided form (full transposition and electromagnetic decoupling against internal and external fields); wherein multi-filamentary superconductor wire is used.
- the figure shows fully or nearly fully transposed "braid" of monofilaments of round wire, important for loss minimization. Far left shows triplet, middle shows six-around 1 , right shows triplet of triplet.
- Disclosed embodiments describe FCLs wherein a multifilamentary strand superconductor with magnetically decoupled filaments is used.
- the individual filaments may be surrounded or in the presence of elements in the strand which would prevent magnetic coupling between the filaments, leading to a low AC loss for the strand under self field conditions.
- Figure 7 shows a multi-filamentary 120 strand with high permeability, low loss (soft) ferromagnetic sheaths 130 around each filament for loss mitigation and manufacturing cost reduction.
- Figure 8 is a longitudinal cross-section of a pair of exemplary wires with filaments 120 and sheath 130.
- the figure shows the self-field magnetic fields contained within filamentary magnetic sheaths. Current travels within filaments, while self fields from filaments circulate (in and out of the picture) in surrounding high permeability sheaths and do not interact with neighboring filaments.
- recovery times are less than 3 min, less than 1 min, less than 10 sec, less than 1 sec, less than 10 cycles.
- a fast-cycling resistive fault current limiter comprising: a fault current limiter coil, an external shunt resistor; and an internal cryogenic heat sink.
- the coil comprising: a plurality of interwoven wires forming a braid or otherwise fully decoupled parallel wires wound in a coil shape, in an embodiment, the wires form a braid, where full transposition occurs; and optional electrical insulation disposed around the resistive sheath; wherein the limiter is adapted to have a recovery time of less than 3 minutes between fault events; and wherein the resistance of the coil of interwoven strands is sufficiently high that less than 1 K temperature rise (zero in the first manifestation, 1 K in the second manifestation) occurs in the coil in the event of a fault.
- Figure 9 shows one example of a coil cross section with embedded wires 105 transferring heat (shown by arrows) to a former 200.
- the former 200 or thermal mass is then in thermal communication with an optional second thermal mass.
- the interwoven wires are comprised of a monofilament superconductor;
- the active superconducting element consists of a strand or cable or braid of strands where the individual strands have many filaments within them and these filaments are magnetically isolated from one another by the use of magnetically highly permeable material surrounding each of them or nearby them.
- the superconductor is selected from the group consisting of MgB 2 , cuprate superconductors, high-temperature superconductors, and the pnictides.
- the limiter coil and the resistive sheath are adapted to be cooled to cryogenic temperature during use.
- the cladding/sheath is selected from the group comprising: high resistance transition metals, stainless steel, and nickel-based alloys.
- Described limiters may rely on the current limitation switching properties of a superconductor (the variable impedance being controlled by the electric field), rather than the temperature switching properties of a superconductor, with this switching mode possible even with the choice of conduction cooling. That is, in contrast to conventional systems, the electric field generated in the coil by the excess current causes the fault current to flow to the shunt resistor due to the high total resistivity of the coil. This is a fast switching mechanism, preventing the excess current from increasing the temperature in the SC. Through this electric field switching property temperature increases are allowed only in the shunt resistor.
- FCL FCL coil
- the FCL coil has a resistance high enough that the temperature rise in the coil is zero at the end of the recovery after a fault, and the recovery time is on the order of seconds or some few minutes.
- Figure 10 shows a graph of the temperature rise for various elements during fault scenario, manifestation 1 .
- r fau i t is, for example, 100 milliseconds
- Trecovery is a perfect recovery, and is less than 3 minutes.
- perfect recovery refers to an insubstantial temperature increase in the SC, allowing for a large number of sequential faults.
- the resistance of the first and second impedance elements are sufficiently high that the current flow and energy deposition are sufficiently low that the temperature rise as measured after the recovery of the fault is zero, and the recovery time is on the order of second or some few minutes.
- the coil resistance (first and second elements in parallel) is high enough, and the thermal grounding to an internal heat sink is high enough that the temperature rise of the first and second elements, as measured at the end of a short recovery time of the order of seconds or some few minutes is small compared to the operational temperature range of the superconducting element.
- the thermal mass and optional second thermal mass act as heat sinks and are designed to have high thermal capacity, especially relative to the filament, (high heat storage) and high thermal conductivity.
- the small temperature rise as measured at the end of the recovery time (which we give the name imperfect recovery time) in the second element is enabled after heat sharing of the element with an internal cryogenic heat sink or thermal mass.
- the heat sink may comprise the former 200 about which the coil or wire is wound, and may be comprised of metals such as nonmagnetic steel, Cu-Ni alloys, brass and the like.
- the system can sustain a predetermined number of immediate repeat faults. After a certain number of design faults, the system can reach full recovery by removing the heat from the internal heat sink to the outside world via the conduction and cryo-cooling system. This is illustrated in Figure 1 1 , where we see a schematic of the temperature rise for various elements during fault scenario 2, manifestation 2. Note that during the fault, the superconducting coil does reach a significant temperature rise (blue line), however, within a very short time, this energy is shared into an internal heat sink (the coil former, which is in intimate thermal communication with the wire).
- Figure 12 shows an expanded view of a section of the FCL shown in Figure 9.
- the heat will be shared with a certain physical volume within the coil former (the outer block in Figure 12) during a time immediately following the fault. This will lower the temperature of the superconducting coil back to a small temperature rise above that of the starting (operating) temperature.
- This temperature rise can be made about 1 K, or in any case small enough that a designed number of sequential faults can be allowed before the system must be allowed to undergo complete recovery. After each event we see an imperfect recovery, but fully sufficient for full operation.
- Disclosed embodiments describe FCL wherein the system is made to be fast recovery, to a partial but sufficient recovery, allowing for a set and designed number of sequential faults, by specifying the resistance of the first and second elements to be sufficiently high during the fault that only enough energy is admitted into the cryogenic portion of the device as can be stored in an intermediate heat storage device by transfer of the heat acquired during the active fault with elements 1 and 2 to this storage device, and that the transfer can be accomplished within a short time (some seconds or some few minutes), and that the temperature rise of the storage device and the first and second impedance elements can be sufficiently low that the fault current limiting sequence can be performed some number of times within a short time window (in fact, immediately after one another) without modifying the system performance.
- L ⁇ n is the length of the coil
- RAEP is the desired resistance of the system during fault mode
- TF the time period of the fault
- //.r is the maximum current to be let through by the fault
- RWPUL is the resistance of the superconducting wire (cable) per unit length
- P CO oier is the heat removal capacity of the cryo-cooler (or, the maximum power than can be removed the heat channel, if it is limiting)
- recovery is the desired recovery time.
- the system is made to be fast recovery, allowing for a set and designed number of sequential faults, by specifying either the resistance ratio of the coil to the shunt (and system), or the resistance of the coil as compared to the line voltage and fault current as follows.
- the former around which the wire is wound to be an intermediate energy storage device.
- ⁇ W> is the time average power related to this energy transfer from the SC wire to the former
- t rec is the desired recovery time
- ⁇ W>t rec is the power we are allowed to dump into the cryogenic part of the FCL system.
- IFVTF ⁇ W>trec, where If is the fault current, V is the line voltage, T F and is the fault event time. Either condition allows the system to recover in a specified (quick) recovery time, using a cooled thermal mass to perform intermediate heat storage.
- the SC is kept cold, but is in the resistive state because of the electric field imposed on the conductor, rather than the temperature.
- the temperature will come back to a temperature slightly above the starting temperature, but sufficiently close to the starting temperature that the operation of the FCL is not impeded. Specifically, this recovery is to a temperature that the SC can still carry the maximum allowable steady state current level for which the SFCL is designed.
- a FCL further comprising a fast acting switch on the exit side of the FCL coil, (that is, a switch which is in series with the first and second impedance elements, such that the parallel combination of the first and second impedance elements are now in series with the switch, and this combination is now in parallel with the third impedance element.
- a fast acting switch on the exit side of the FCL coil, (that is, a switch which is in series with the first and second impedance elements, such that the parallel combination of the first and second impedance elements are now in series with the switch, and this combination is now in parallel with the third impedance element.
- the switch might be conventional 5-6 cycle breaker, or a vacuum interrupter 2 cycle, or a similar fast acting switch.
- FCL coil winding will be non inductive gives an opportunity to increase the efficiency of its conduction cooling by encasing the winding in a highly thermally conducting case, such as e.g. Cu.
- the non inductive winding should not produce a significant ac magnetic field in Cu case, so the heating by eddy currents should not be an issue.
- Figure 13 is a flowchart. The flowchart details parameters for making a FCL according to described embodiments.
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Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/813,060 US8948830B2 (en) | 2010-07-29 | 2011-07-29 | Fast-cycling, conduction-cooled, quasi-isothermal, superconducting fault current limiter |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US36880810P | 2010-07-29 | 2010-07-29 | |
| US61/368,808 | 2010-07-29 |
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| WO2012016202A2 true WO2012016202A2 (en) | 2012-02-02 |
| WO2012016202A3 WO2012016202A3 (en) | 2012-05-10 |
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| PCT/US2011/045994 Ceased WO2012016202A2 (en) | 2010-07-29 | 2011-07-29 | Fast-cycling, conduction-cooled, quasi-isothermal, superconducting fault current limiter |
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| US (1) | US8948830B2 (en) |
| WO (1) | WO2012016202A2 (en) |
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| JP2017034194A (en) * | 2015-08-05 | 2017-02-09 | 古河電気工業株式会社 | Current limiter, overcurrent detection mechanism and drive circuit for superconducting coil |
| US10401393B2 (en) | 2016-06-28 | 2019-09-03 | The United States Of America As Represented By The Secretary Of The Army | Method for determining persistent critical current of superconducting materials |
| RU208602U1 (en) * | 2021-06-22 | 2021-12-27 | Российская Федерация, от имени которой выступает ФОНД ПЕРСПЕКТИВНЫХ ИССЛЕДОВАНИЙ | Superconducting current limiting device for voltage class up to 1000 V |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2002058204A2 (en) * | 2001-01-17 | 2002-07-25 | Igc-Superpower, Llc | Matrix-type superconducting fault current limiter |
| US8037695B2 (en) * | 2003-07-04 | 2011-10-18 | Rolls-Royce Plc | Fault current limiter |
| US7283339B2 (en) * | 2005-06-01 | 2007-10-16 | Superpower, Inc | Superconducting FCL using a combined inducted magnetic field trigger and shunt coil |
| KR100662754B1 (en) * | 2005-12-02 | 2007-01-02 | 엘에스산전 주식회사 | Superconducting Resistance Current Limiter |
-
2011
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| WO2012016202A3 (en) | 2012-05-10 |
| US20130190187A1 (en) | 2013-07-25 |
| US8948830B2 (en) | 2015-02-03 |
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