CN103560039B - A kind of high-voltage breaker permanent magnet salient pole motor operation mechanism and control method - Google Patents

Abstract

An operating mechanism and a control method for a permanent magnet salient pole motor of a high-voltage circuit breaker belong to the operating technology in the field of high-voltage switchgear. The operating mechanism drives the motor to rotate the salient pole rotor by the electromagnetic torque generated by itself, and drives the circuit breaker to open and close; when current is applied to the single-phase armature winding, the magnetic field generated by the permanent magnet will make the salient pole rotate under the action of electromagnetic force. The rotor turns. Method First, charge the charging capacitor bank of the driving motor, set the speed weight coefficient and current weight coefficient; according to the collected driving motor armature current and speed signal, use the weighted fuzzy PID algorithm to adjust the duty cycle and frequency of the PWM signal. The driving motor of the present invention does not need the commutation stage of the traditional permanent magnet brushless DC motor within the working angle, reduces the energy consumption of the driving motor, and can significantly improve the efficiency of the driving motor under the short-time working condition of the high-voltage circuit breaker, avoiding The non-equilibrium process of motor commutation can significantly improve the control effect of the drive motor under short-time work.

Description

An operating mechanism and control method for a permanent magnet salient pole motor of a high voltage circuit breaker

technical field

The invention belongs to the operating technology in the field of high-voltage switchgear, and in particular relates to an operating mechanism and a control method for a permanent magnet salient pole motor of a high-voltage circuit breaker.

Background technique

High-voltage circuit breaker is one of the most important and complex equipment in the power system. Whether it can normally realize fast opening and closing operations plays a decisive role in the safe and stable operation of the power grid. The traditional circuit breaker operating mechanism has complex structure, many moving parts, poor controllability and reliability. The complex operating mechanism leads to long response time and large dispersion of the operating mechanism, and its structure cannot fully meet the kinematic and operating characteristics of the circuit breaker. With the improvement of the intelligent level of high-voltage circuit breakers, intelligent equipment has developed from the initial peripheral monitoring and control of circuit breakers to state signal acquisition technology, state monitoring and fault diagnosis, intelligent operation, and intelligent secondary control systems. , the most critical of which is the intelligent operation of the circuit breaker. The traditional operating mechanism cannot accurately track the expected action curve of the given circuit breaker, nor can it control the speed of the entire operation process, resulting in unsatisfactory dynamic control characteristics, and it is difficult to meet the requirements of the modern power system for intelligent operation of the circuit breaker. . Therefore, it is necessary to study a high-voltage circuit breaker operating mechanism with good control performance.

Contents of the invention

In view of the deficiencies in the prior art, the purpose of the present invention is to provide an operating mechanism and control method for a permanent magnet salient pole motor of a high voltage circuit breaker, so as to control the voltage applied to the salient pole permanent magnet motor and realize the control of high voltage The follow-up brake of the opening and closing speed of the circuit breaker motor operating mechanism.

The technical solution of the present invention is realized in the following way: a high-voltage circuit breaker permanent magnet salient pole motor operating mechanism is mainly composed of a driving motor and a motor controller; the motor controller is connected to the end of the driving motor through a cable, and the photoelectric encoder Installed at the end of the drive motor and fixedly connected to the motor spindle and connected to the motor controller through a shielded communication line; the output spindle of the drive motor is connected to the rotating spindle through a docking flange, and one end of the three drive cranks is keyed to the drive spindle to achieve The mechanical connection between the operating mechanism and the circuit breaker body is ensured;

The driving motor of the permanent magnet salient pole operating mechanism is mainly composed of a motor stator, a motor salient pole rotor, a motor main shaft, a permanent magnet and an armature winding; the motor stator and the motor salient pole rotor are fixedly connected with a flat key, and the permanent magnet Closed on the salient pole rotor of the motor, the armature winding is a single-phase winding, which is symmetrically wound in the slot in the motor stator along the symmetrical interface;

The drive motor drives the salient-pole rotor to rotate by the electromagnetic torque generated by itself, and then drives the circuit breaker to perform opening and closing operations; when current is applied to the single-phase armature winding, the magnetic field generated by the permanent magnet is activated by the electromagnetic force. The salient pole rotor rotates;

The permanent magnet does not cross the symmetrical interface of the drive motor, so that the salient pole rotor rotates within a limited rotation angle.

The single-phase armature winding of the drive motor is mainly composed of a starting winding and a braking winding.

The motor controller is mainly composed of power supply module, signal acquisition module, signal conditioning module, AD conversion module, data processing unit, communication module, opening and closing signal module, isolation drive circuit, boost module and IGBT module;

In the motor controller, the signal acquisition module collects the motor current signal, and the signal amplitude of the collected signal is stabilized within 0-5V through the signal conditioning module. The conditioned signal is input to the signal AD conversion module, and the AD conversion module After input to the data processing unit, the data processing unit processes the corresponding PWM wave according to the input signal and the motor opening and closing command, and the PWM wave is transmitted to the IGBT module through the isolation drive circuit and the boost module, and then controls the opening and closing of the IGBT module , to control the movement of the motor; the opening and closing signal module provides control instructions for the opening and closing actions of the driving motor, and transmits the instructions to the data processing unit.

The claimed data processing unit can also communicate with the upper computer, through which the upper computer can send opening and closing instructions to the lower computer, and can also display the driving motor current and motor speed curve through the upper computer.

The power supply module further includes a DC power supply module and a drive motor charging capacitor bank module.

A method for controlling an operating mechanism of a permanent magnet salient pole motor of a high-voltage circuit breaker, comprising the following steps:

Step 1: Charge the driving motor charging capacitor bank, and store the preset speed and current curve of the driving motor in the motor controller through the host computer, and set the speed weight coefficient and current weight coefficient;

Step 2: The motor controller detects whether the opening and closing commands are received, and if it receives the opening and closing commands, it controls the drive motor to rotate, otherwise it continues to detect;

Step 3: Collect the armature current and speed signals of the driving motor of the permanent magnet salient pole motor operating mechanism of the high-voltage circuit breaker, and send them to the data processing unit after signal conditioning and AD conversion, and compare them with the preset current stored in the motor controller , Speed signal comparison, adjust the duty ratio and frequency of the PWM signal through the weighted fuzzy PID algorithm, and finally achieve the purpose of controlling the movement of the drive motor, which specifically includes the following steps:

Step 3.1: The data processing unit initializes the PWM signal, and then sends out the PWM signal to drive the IGBT to turn on and off, so as to add the voltage in the charging capacitor bank to both ends of the armature winding;

Step 3.2: The acquisition module collects the current and speed signals of the driving motor in real time, and after being processed by the signal conditioning module and the AD conversion module, transmits the measured current and the measured speed of the driving motor to the data processing unit;

Step 3.3: The data processing unit compares the processed drive motor speed and current signals with the predetermined drive motor speed and current values, uses the weighted fuzzy PID algorithm to adjust the speed and current signals, and adjusts the PWM signal accordingly. The size of the void ratio;

Step 3.4: After the PWM signal adjusted in step 3.3, continue to adjust the frequency of the PWM signal: when the duty ratio of the PWM signal is greater than 0.7, adjust the frequency of the PWM signal, otherwise maintain the initial frequency; in the process of adjusting the PWM frequency Among them, the duty cycle of the PWM signal is used as a reference, and the interval setting method is used for adjustment;

Step 3.5: The data processing unit sends out the PWM signal according to the adjusted duty cycle and frequency, and through the PWM signal to turn off and turn on the IGBT, change the effective value of the voltage added to the two ends of the armature winding of the drive motor to realize the control of the operating mechanism. Control of drive motor movement;

Step 4: When it is detected that the movement of the driving motor is completed, that is, the operation of the circuit breaker is completed, the control process ends;

The process of adjusting the duty cycle of the PWM signal described in step 3.3 is as follows: the upper computer sets the weights of the current and speed in changing the duty cycle of the PWM according to the actual operating conditions of the circuit breaker, and controls the movement of the driving motor.

Innovation point of the present invention:

(1) The high-voltage circuit breaker permanent magnet salient pole motor operating mechanism proposed by the present invention simplifies the motion system of the circuit breaker operating mechanism in principle, significantly reduces the parts of the operating mechanism, and improves and increases the performance of the operating mechanism. reliability. The permanent magnet salient pole motor with good control performance is used to drive the circuit breaker, which greatly improves the intelligent operation level of the high voltage circuit breaker.

(2) The permanent magnet salient pole drive motor proposed by the present invention does not need the commutation stage of the traditional permanent magnet brushless DC motor in the working angle, simplifies parts such as brushes and position signal sensors, and reduces the energy consumption of the drive motor. The high-voltage circuit breaker can significantly improve the efficiency of the drive motor under short-time working conditions, and avoid the unbalanced process of motor commutation, which can significantly improve the control effect of the drive motor under short-time work. The starting winding and braking winding are set, which can significantly improve the starting and braking performance of the drive motor.

(3) The present invention rationally designs each hardware system that is applicable to the motor controller of the high-voltage class circuit breaker, and adopts the weight fuzzy PID control algorithm to control the operating mechanism drive motor from the two aspects of PWM voltage signal frequency and duty ratio simultaneously, According to different operating conditions of the circuit breaker, the speed and current output adjustment PWM frequency and duty cycle adjustment weight can be customized, which is conducive to improving the robustness and follow-up control characteristics of the operating mechanism.

Description of drawings

Fig. 1 is a schematic structural view of an operating mechanism of a permanent magnet salient pole motor according to an embodiment of the present invention;

Fig. 2 is a schematic structural view of a permanent magnet salient pole drive motor according to an embodiment of the present invention;

3 is a block diagram of a motor controller according to an embodiment of the present invention;

4 is a schematic diagram of a power supply of a motor controller according to an embodiment of the present invention;

5 is a schematic diagram of physical connection of the signal acquisition module of the motor controller according to the embodiment of the present invention;

6 is a circuit schematic diagram of a signal conditioning module of a motor controller according to an embodiment of the present invention;

Fig. 7 is the schematic circuit diagram of the ADS8364 conversion module of the motor controller according to the embodiment of the present invention;

8 is a schematic circuit diagram of a 5V-3.3V level conversion circuit of a motor controller according to an embodiment of the present invention;

9 is a circuit schematic diagram of the opening and closing signal acquisition module of the motor controller according to the embodiment of the present invention;

10 is a schematic circuit diagram of a driving isolation circuit of a motor controller according to an embodiment of the present invention;

11 is a circuit schematic diagram of a boost module and peripheral circuits of a motor controller according to an embodiment of the present invention;

12 is a schematic circuit diagram of an IGBT module of a motor controller according to an embodiment of the present invention;

13 is a circuit schematic diagram of the core chip TMS320F28335 of the data processing unit of the motor controller according to the embodiment of the present invention;

14 is a schematic circuit diagram of the RS232 communication module of the motor controller according to the embodiment of the present invention;

15 is a schematic circuit diagram of the RS485 communication module of the motor controller according to the embodiment of the present invention;

Fig. 16 is a flow chart of the control system of the motor controller according to the embodiment of the present invention.

Detailed ways

Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

In this embodiment, a 126kV vacuum circuit breaker is taken as an example. According to the requirements of the arc extinguishing chamber for the operating mechanism, the permanent magnet salient pole motor operating mechanism of the high-voltage circuit breaker is used, as shown in FIG. 1 . The operating mechanism is set at the side phase position of the circuit breaker, and is mainly composed of a driving motor 1, a motor controller 2 and a photoelectric encoder 3. In this embodiment, a motor is used to directly drive the transmission mechanism to realize the three-phase mechanical linkage of the circuit breaker.

The output spindle of the drive motor 1 is connected to the rotating spindle 5 through the docking flange 4, and one end of the three transmission cranks 6 is keyed to the transmission spindle 5, realizing the mechanical connection between the operating mechanism and the circuit breaker body 7. The driving motor 1 of the permanent magnet salient pole operating mechanism is composed of a motor stator 8 , a motor salient pole rotor 9 , a motor main shaft 10 , a permanent magnet 11 and an armature winding 12 . The motor stator 13 is fixedly connected with the salient pole rotor 9 of the motor through flat keys to realize coaxial rotation. The permanent magnets 11 are glued on the salient pole rotor 9 of the motor. The armature winding 12 is a single-phase winding, which is wound in the slot in the motor stator 8 along the symmetrical interface, and drives the motor 1 within the preferred working angle, as shown in FIG. 2 . When the directional current passes through the armature winding 12 , it interacts with the magnetic field generated by the permanent magnet 11 to generate electromagnetic torque, which pushes the salient pole rotor 9 to rotate. The armature winding 12 is divided into the starting winding AA ₁ , the braking winding BB ₁ and the remaining current conducting windings. During the start-up phase of the drive motor, _a positive current is applied to the start winding AA1 and the guide winding to drive the salient pole rotor 9 to rotate counterclockwise. The current applied in the starting winding is greater than the current value in the guide winding, which additionally increases the starting torque and reduces the starting process time. At the same time, a reverse current is applied in the brake winding BB ₁ , so that when the salient pole rotor 9 moves to the brake winding, it receives the action of the electromagnetic torque in the opposite direction and brakes, reducing the sudden stop of the driving motor. impact on the salient pole rotor 9. During the movement of the driving motor 9, the direction of the current in the armature winding 12 is fixed, and there is no commutation link. This embodiment avoids the phase commutation process of the traditional brushless DC motor, so there is no need for the commutation brush and the position signal sensor of the traditional brushless motor, which saves the energy loss in the phase commutation phase of the motor. In this case, the efficiency of the drive motor can be significantly improved. At the same time, avoiding the non-equilibrium process of motor commutation can obviously improve the control effect of the driving motor under short-time operation.

The basic composition and system block diagram of the motor controller 2 are shown in Fig. 3 . The power module supplies power to all components within the motor controller. The signal acquisition circuit is connected to the data processing unit through the signal conditioning module and the AD conversion module. One output end of the data processing unit is connected to the IGBT module through the isolation drive circuit and the booster module. The other output end of the data processing unit is connected to the motor position signal capture module. The third output end of the processing unit is connected to the opening and closing automatic reclosing capture module, and the fourth output end of the data processing unit is connected to the upper computer through the communication module.

The power supply module is mainly composed of a DC power supply module and a drive motor charging capacitor bank module. DC power modules include 5V, +12V, 15V. 5V power supply provides working voltage for LM358, ADS8364 (AD conversion module) and optocoupler device HCPL-63N. +12V provides the power supply voltage for the voltage and current sensor. 15V provides power supply voltage for 2SC0108T2A0～A17 step-up modules. 3.3V provides a stable voltage for the normal operation of TMS320F28335 (data processing unit). The power supply module uses the AMS1117 chip, which forms a 5V-3.3V hardware circuit, and its schematic diagram is shown in Figure 4.

The signal acquisition module is CHF-200B Hall sensor. The actual wiring diagram of the Hall sensor is shown in Figure 5. The Hall sensor has 4 pins, the first pin is connected to +12V, the second pin is connected to -12V, and the third pin is the output terminal of the transformer signal, which is connected to the input of the signal conditioning circuit Terminal UA0, the fourth pin is grounded.

Before AD conversion, the signal needs to be conditioned to ensure that the signal input to the ADS8364 is within 0-5V, which meets the signal range collected by the AD chip. The signal conditioning module is composed of LM358 and peripheral circuits. The value of the feedback resistor R ₁ of the current signal may be 1KΩ˜3KΩ. According to the needs of the actual situation, R ₁ in this embodiment is selected as 1KΩ. The schematic diagram of its circuit is shown in Figure 6.

The AD conversion module is composed of ADS8364 and its peripheral hardware circuits. The effective conversion precision of this chip reaches 16 bits, and the frequency is as high as 250kHz, which effectively meets the sampling requirements. The circuit schematic diagram of the ADS8364 conversion module is shown in Figure 7. The UA0-, UA0+, UB0-, UB0+, UC0-, UC0+ terminals of the signal conditioning circuit are connected to the CHA0-, CHA0+, CHB0-, CHB0+, CHC0-, CHC0+ terminals of the AD conversion module.

ADS8364 output signal range is 0 ~ 5V, and TMS320F28335 processing signal range is 0 ~ 3.3V, so a 5V ~ 3.3V level conversion circuit needs to be connected between ADS8364 and TMS320F28335. The level conversion circuit is realized by using LL245A, and the input and output directions of the pins of the chip are controlled through the 1st and 24th pins of LL245A, and its circuit schematic diagram is shown in Figure 8. The 1B1, 1B2, 1B3, 1B4, 1B5, 1B6, 1B7, 1B8, 2B1, 2B2, 2B3, 2B4, 2B5, 2B6, 2B7, 2B8 pins of the LL245A are connected to the D0~D15 pins of the ADS8364.

In order to realize the control of the motor, it is necessary to capture the motor rotation opening and closing signal. The opening and closing signal capture of the motor is composed of 74HC14 and CC384 chips. The signal obtained when the opening and closing signal is captured is high level. In order to ensure the normal operation of the device, this embodiment uses a low level signal to trigger the opening and closing. Therefore, the hardware circuit for the opening and closing signal capture needs a reverse function. Therefore, the opening and closing signal capture circuit is connected according to the function of the inverter. At the same time, in view of the high-level signal output by 74HC14 is 5V, it is necessary to realize the conversion from 5V to 3.3V through CC384. The circuit schematic diagram of the motor opening and closing signal capture module is shown in Figure 9. The CAP4, CAP5, and CAP6 pins of the TMS320F28335 processor are connected to the 1A4, 1A5, and 1A3 pins of the CC384, and the 1B4, 1B5, and 1B3 pins of the CC384 are connected to the 4Y, 5Y, and 6Y pins of the 74HC14 device. 5A and 6A are respectively connected with the opening and closing automatic reclosing buttons.

When TMS320F28335 captures the opening and closing signal, it will send out the corresponding PWM wave. At this time, the amplitude of the PWM wave is 3.3V. According to the requirements of the selected boost module, a PWM wave of 5V is required, so the conversion from 3.3V to 5V must be realized in the drive isolation module, and the isolation must be realized to avoid excessive amplitude. Signal interference burns DSP, chooses 74HC245 as optocoupler driver and optocoupler device HCPL-63N to realize 3.3V～5V conversion. Its schematic diagram is shown in Figure 10. A0~A5 pins of drive isolation circuit 74HC245 device are connected to PWM0~PWM5 pins of TMS320F28335, and Q0~Q5 of 74HC245 device are respectively connected to CATHODE1 and CATHODE2 of three HCPL-63N.

The IGBT in this embodiment requires a voltage of 15V to turn on, so the PWM signal needs to be further boosted. The boost module uses 2SC0108T2A0~17, the first pin is grounded, the second and third pins are respectively connected to the input of PWM wave, the fourth pin is connected to 15V power supply, the 9th pin and 17th pin Respectively connected to the output of the PWM wave. Its schematic diagram is shown in Figure 11. The INA and INB pins of 2SC0108T2A0~17 are connected to the VO1 and VO2 pins of the isolation circuit HCPL-63N, and the GATE1 and GATE1 pins of 2SC0108T2A0~17 are connected to the gate pins of the IGBT.

The IGBT module in this embodiment selects a three-phase bridge drive circuit composed of IGBTs. The selected IGBT model is SKM600GB066D. Each module forms an independent upper and lower bridge arm. One SKM600GB066D consists of 7 pins. 1, 2, and 6 are the collector, emitter, and gate of the lower bridge arm, respectively, and 3, 4, and 5 are the collector, emitter, and gate of the upper bridge arm, respectively. 4 and 6 are the control feet, connected to the PWM wave signal. Pins 3 and 2 are respectively connected to the two ends of the capacitor bank to provide voltage for the motor drive. The voltage difference between pins 5 and 7 and pins 4 and 6 turns off the IGBT. 2 and 7, 5 and 1 are at the same point, and a 0.1uF absorbing capacitor is connected between pin 1 and pin 2, and pin 3 and pin 5 to prevent the IGBT from being broken down. Its circuit schematic diagram is shown in Figure 12.

The data processing unit of the motor controller adopts TMS320F28335 launched by TI Company. This type of DSP supports floating-point data operations on the basis of inheriting DSP2812, which greatly improves the data processing efficiency and precision, and further improves its application in the field of industrial control. The pin description and actual wiring diagram of the core chip TMS320F28335 of the data processing unit of the motor controller are shown in Figure 13.

In this embodiment, a host computer control page is also developed for supporting the motor controller. In order to realize the communication between the upper computer and the lower computer, and facilitate the observation of the data collected by the lower computer through the upper computer, the control device is equipped with RS232 and RS485 communication modules. Among them, RS232 communication is composed of MAX3232 and its peripheral circuits, and RS485 communication is composed of SP3485 and its peripheral circuits. The circuit diagrams of the RS232 and RS485 communication modules are shown in Figure 14 and Figure 15 respectively.

In this embodiment, the flow of the follow-up control method for the permanent magnet salient pole motor is shown in FIG. 16 . Include the following steps:

Step 1: First, charge the drive motor charging capacitor bank in the power module, and at the same time store the predetermined speed and current curve of the drive motor in the motor controller through the host computer according to the different operating conditions of the circuit breaker, as the drive motor movement In the process, the control target of the speed and current signal, and set the speed weight coefficient and current weight coefficient at the same time.

Step 2: The motor controller detects whether it has received the command to open and close the circuit breaker. If the command is not received, the motor controller continues to detect. If the command is received, the motor controller starts to control the action of the drive motor.

Step 3: Collect the armature current and speed signals of the driving motor of the permanent magnet salient pole motor operating mechanism of the high-voltage circuit breaker, and send them to the data processing unit after signal conditioning and AD conversion, and compare them with the preset current stored in the motor controller , Speed signal comparison, adjust the duty ratio and frequency of the PWM signal through the weighted fuzzy PID algorithm, and finally achieve the purpose of controlling the movement of the drive motor, which specifically includes the following steps:

Step 3.1: When the motor controller controls the motion of the driving motor, the data processing unit will be initialized, and the PWM signal will be sent out according to the predetermined duty cycle and frequency, and the gate of the IGBT will be driven after signal conditioning, so as to realize the control of the IGBT. On and off, the voltage in the charging capacitor bank is added to both ends of the armature winding, and the operating mechanism is driven to drive the motor to rotate.

Step 3.2: The acquisition module collects the current and speed signals of the driving motor in real time, and after being processed by the signal conditioning module and the AD conversion module, transmits the measured current and the measured speed of the driving motor to the data processing unit;

Step 3.3: The data processing unit compares the processed drive motor speed and current signals with the predetermined drive motor speed and current values, uses the weighted fuzzy PID algorithm to adjust the speed and current signals, and adjusts the PWM signal accordingly. The size of the empty ratio realizes the control of the motion of the drive motor.

Using weight fuzzy PID algorithm to realize the adjustment process of PWM signal duty cycle is as follows:

The data processing unit compares the collected drive motor speed value v with the preset speed value v, and obtains a given error ΔV for speed regulation. According to the error ΔV, the fuzzy PID controller is used to control the speed, The current is set.

When performing fuzzy PID tuning, the speed deviation value e and deviation rate ec are used as the input of the speed adjustment fuzzy PID controller, and the values of the control parameters k _p , _ki , k _d of the controller are determined according to the deviation value e and deviation rate ec .

The speed deviation e and the rate of change ec of the speed deviation are fuzzified to obtain the fuzzy language variables E and Ec, and the fuzzy subsets of E and Ec are {NB, NM, NS, Z, PS, PM, PB}, where, NB means negative big, NM means negative middle, NS means negative small, Z means zero, PS means positive small, PMPS means positive middle, PBPS means positive big.

The fuzzy subsets of output quantities K _P , KI , and K _D are all {NB, NM, NS, _Z , PS, PM, PB}. In this embodiment, the domains of fuzzy language variables E, Ec and K _P , K _I , and K _D are all {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}. _E and Ec all obey the triangular membership function curve distribution, and K _P , KI , K _D all obey the Gaussian membership function curve distribution. Among them, the fuzzy control rules of K _P , K _I , and K _D are shown in Table 1 below:

Table ₁ shows the fuzzy control rules of K _P , KI , K _D

The corrected values Fuzzy(K _P ), Fuzzy(K _I ) and Fuzzy(K _D ) of K _P , KI , and K _D are calculated according to Table ₁ .

Finally, adjust the values of K _P , K _I , and K _D according to formulas (1) to (3), and the specific formulas are as follows:

K _P ＝K _P0 +Fuzzy(K _P )(1)

K _I ＝K _I0 +Fuzzy(K _I )(2)

K _D ＝K _D0 +Fuzzy(K _D )(3)

In the formula, usually take K _P0 =400, K _I0 =1.2, K _D0 =1.

Comparing the current value i ₁ measured by the current sensor with the given error ΔV of the speed adjustment, the value of the current error Δi ₁ is obtained as:

Δi ₁ =K ₁ Δv(4)

_In the formula, K1 is the current regulation coefficient.

Add the current value i ₁ measured by the current sensor to the current error value Δi ₁ to determine the current regulation given value for:

${\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&Delta;i</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

Suppose the duty cycle of the PWM signal is α _k1 , and the value range of α _k1 is 0-1.

Assuming that the maximum value of the drive motor current preset in the motor controller is I _max1 , the value range of |I ^* | is _{0˜I max1} .

Adjust the duty ratio α _k1 of the PWM signal according to the following formula:

${\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;v</span>}}{{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

In the formula, m is the current weight coefficient, and n is the speed weight coefficient.

Step 3.4: After the PWM signal adjusted in step 3.3, continue to adjust the frequency of the PWM signal:

The adjustment of the frequency f of the PWM signal is only adjusted when the duty ratio of the PWM signal α _k1 >0.7; when α _k1 ≤0.7, the original frequency is maintained. f adopts the method of 3-interval setting, and the interval setting rule table of PWM signal frequency is shown in Table 2:

Table 2 is the interval setting rule table of PWM signal frequency

Step 3.5: The data processing unit sends out the PWM signal according to the adjusted duty cycle and frequency, and through the PWM signal to turn off and turn on the IGBT, change the effective value of the voltage added to the two ends of the armature winding of the drive motor to realize the control of the operating mechanism. Control of drive motor movement;

Step 4: The motor controller detects whether the driving motor has completed its action. If it has not completed, it continues to control the movement of the driving motor. If it is completed, it stops the movement of the driving motor, and the control process ends.

Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples, and various changes or modifications can be made to these embodiments without departing from the principles and principles of the present invention. substance. The scope of the invention is limited only by the appended claims.

Claims (8)

1. a high-voltage breaker permanent magnet salient pole motor operation mechanism, is characterized in that: primarily of drive motors (1) and electric machine controller (2) composition; Electric machine controller (2) is connected with drive motors (1) end by cable, and the end that photoelectric encoder (3) is arranged on drive motors (1) is fixedly connected with electric machine main shaft (10) and is connected with electric machine controller (2) by shielded communication line; The output main shaft of drive motors (1) is connected with transmission main shaft (5) by abutted flange dish (4), three driving crank (6) one end are connected with transmission main shaft (5) key, achieve the mechanical connection of high-voltage breaker permanent magnet salient pole motor operation mechanism and circuit breaker;

The drive motors (1) of described permanent magnet salient pole motor operation mechanism forms primarily of motor stator (8), motor field spider (9), electric machine main shaft (10), permanent magnet (11) and armature winding (12); Motor stator (8) used flat key to be fixedly connected with motor field spider (9), permanent magnet (11) is bonded on motor field spider (9), armature winding (12) is single-phase winding, is wound in the fluting in motor stator (8) along symmetrical interface symmetry;

Described drive motors (1) rotates by the electromagnetic torque drive motors field spider (9) that self produces, so drive circuit breaker to carry out point, closing operation; In armature winding (12), apply electric current, the magnetic field that permanent magnet (11) produces makes motor field spider (9) rotate in the effect of electromagnetic force.

2. high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 1, it is characterized in that: described permanent magnet (11) does not cross the symmetrical interface of drive motors (1), and motor field spider (9) is rotated in finite angle.

3. high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 1, is characterized in that: the armature winding (12) of described drive motors (1) is primarily of startup winding and braking winding composition.

4. high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 1, is characterized in that: electric machine controller (2) forms primarily of power module, signal acquisition module, Signal-regulated kinase, AD conversion module, data processing unit, communication module, divide-shut brake signaling module, isolated drive circuit, boost module and IGBT module;

In described electric machine controller, signal acquisition module gathers motor current signal, within Signal-regulated kinase makes the signal amplitude collected be stabilized in 0 ~ 5V, signal after conditioning is input to AD conversion module, data processing unit is input to after AD conversion module, data processing unit is according to input signal and motor divide-shut brake control command, send corresponding PWM ripple, this PWM ripple passes to IGBT module through isolated drive circuit, boost module, and then control cut-offfing of IGBT module, realize the control to drive motors motion; The divide-shut brake action that divide-shut brake signaling module is drive motors provides motor divide-shut brake control command, and this instruction is passed to data processing unit.

5. high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 4, it is characterized in that: described data processing unit also can with upper machine communication, realize the transmission to the instruction of slave computer divide-shut brake by host computer, also realize the display to drive motors electric current and motor speed profile by host computer.

6. high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 4, is characterized in that: described power module comprises DC power supplier and drive motors charging capacitor group module further.

7. a control method for high-voltage breaker permanent magnet salient pole motor operation mechanism, controls high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 1, it is characterized in that: comprise the following steps:

Step 1: charge to drive motors charging capacitor group, is stored in electric machine controller by host computer by default drive motors tach signal and current signal simultaneously, arranges speed weight coefficient and current weights coefficient;

Step 2: electric machine controller detect whether to receive point, reclosing command, if to receive point, reclosing command, then control drive motors and rotate, otherwise continuation detection;

Step 3: the drive motors armature supply, the tach signal that gather high-voltage breaker permanent magnet salient pole motor operation mechanism, by being sent to data processing unit after signal condition and AD conversion, and compare with the drive motors tach signal preset stored in electric machine controller and current signal, duty ratio and the frequency of pwm signal is regulated by weight fuzzy PID algorithm, finally reach the object controlling drive motors motion, specifically comprise the following steps:

Step 3.1: data processing unit carries out the initialization of pwm signal, then sends pwm signal and drives IGBT turn-on and turn-off, and then realizes the voltage in drive motors charging capacitor group to be added to armature winding two ends;

Step 3.2: the electric current of acquisition module Real-time Collection drive motors and tach signal, after the process of Signal-regulated kinase and AD conversion module, is sent to data processing unit by the measured current of drive motors and actual measurement rotating speed;

Step 3.3: drive motors rotating speed after treatment and current signal compare with the drive motors tach signal preset and current signal by data processing unit respectively, adopt weight fuzzy PID algorithm to adjust to rotating speed and current signal, and correspondingly regulate the size of pwm signal duty ratio;

Step 3.4: through the pwm signal that step 3.3 is adjusted, continues to regulate pwm signal frequency: when the duty ratio of pwm signal is greater than 0.7, carry out the adjustment of pwm signal frequency, otherwise maintenance just establishes frequency; In the process that PWM frequency regulates, with the duty ratio of pwm signal for reference, interval Tuning is adopted to regulate;

Step 3.5: data processing unit sends pwm signal according to the duty ratio after adjustment and frequency, changes to the shutoff of IGBT and conducting the control that the effective value being added in armature winding both end voltage realizes moving to the drive motors of high-voltage breaker permanent magnet salient pole motor operation mechanism by pwm signal;

Step 4: when detecting the motion of drive motors and terminating that namely breaker operator completes, control procedure terminates.

8. the control method of high-voltage breaker permanent magnet salient pole motor operation mechanism according to claim 7, it is characterized in that: the size of the adjustment pwm signal duty ratio described in step 3.3, process is: host computer sets electric current respectively according to the practical operation operating mode of circuit breaker and rotating speed is changing the weight in PWM duty ratio, controls drive motors motion.