高壓真空斷路器電機(jī)操動機(jī)構(gòu)及模糊控制研究
發(fā)布時間：2019-03-02 14:49
【摘要】：為滿足智能電網(wǎng)建設(shè)對智能化設(shè)備的需求，，提高高壓斷路器的操控性能及運行可靠性，應(yīng)用現(xiàn)代智能控制技術(shù)的電機(jī)操動機(jī)構(gòu)得到越來越多的關(guān)注。本論文研究以126kV高壓真空斷路器為控制對象的電機(jī)操動機(jī)構(gòu)技術(shù)，并對斷路器開斷與關(guān)合的運動特性、電機(jī)結(jié)構(gòu)的定轉(zhuǎn)子設(shè)計及仿真、運動過程控制方法、驅(qū)動控制技術(shù)和實際工程應(yīng)用等方面進(jìn)行了深入研究。 在本文中，主要的研究工作如下： （1）建立并求解126kV高壓真空斷路器電機(jī)驅(qū)動的動力學(xué)方程，給出了永磁驅(qū)動電機(jī)的設(shè)計參數(shù)選取的依據(jù)和方法。同時，分析和計算了電機(jī)機(jī)構(gòu)直接驅(qū)動斷路器分合閘操作的特征參數(shù)，深入研究了電機(jī)機(jī)構(gòu)的結(jié)構(gòu)設(shè)計參數(shù)對斷路器分合閘操作的速度特性影響。為增加永磁電機(jī)機(jī)構(gòu)的可控性，并減小永磁電機(jī)的體積，在分析表貼式、燕尾槽表貼埋入型、直線內(nèi)嵌型和外V內(nèi)嵌型等4種驅(qū)動電機(jī)轉(zhuǎn)子的設(shè)計方案基礎(chǔ)上，提出多槽雙層表貼埋入式定子及轉(zhuǎn)子永磁電機(jī)改進(jìn)設(shè)計方案。 （2）研究建立了考慮IGBT和反并二極管特性的永磁電機(jī)操動機(jī)構(gòu)動態(tài)數(shù)學(xué)模型。通過深入分析伺服電機(jī)操動機(jī)構(gòu)各組成環(huán)節(jié)，給出伺服電機(jī)操動機(jī)構(gòu)控制系統(tǒng)電流環(huán)、速度環(huán)、位置環(huán)等控制模型，并對真空滅弧室觸頭速度特性進(jìn)行曲線跟蹤仿真。仿真結(jié)果表明，應(yīng)用常規(guī)PID控制方法的電機(jī)機(jī)構(gòu)的觸頭速度曲線跟蹤，系統(tǒng)響應(yīng)時間慢，在前15ms內(nèi)有較大偏差。 （3）針對真空斷路器伺服電機(jī)機(jī)構(gòu)的控制系統(tǒng)特點，結(jié)合常規(guī)PID響應(yīng)速度快的優(yōu)點，提出了一種永磁電機(jī)機(jī)構(gòu)的模糊免疫PID速度隨動跟蹤智能控制方法，依據(jù)空間矢量PWM調(diào)節(jié)控制的機(jī)理，實現(xiàn)了電壓幅值的連續(xù)調(diào)節(jié)。仿真結(jié)果表明：與傳統(tǒng)PID控制相比，該智能控制方法，可以有效的減小系統(tǒng)的跟蹤誤差，具有較高的魯棒性，并且能對斷路器永磁電機(jī)操動機(jī)構(gòu)動態(tài)性能進(jìn)行精確的速度跟蹤隨動控制。 （4）針對所研究的控制對象非線性、大慣量、瞬時起動、大電流等特點，為方便實現(xiàn)復(fù)雜控制算法以及系統(tǒng)的實時性，研制了DSP28335+FPGA+單片機(jī)多CPU結(jié)構(gòu)全數(shù)字化斷路器伺服電機(jī)操動機(jī)構(gòu)控制系統(tǒng)。并給出控制系統(tǒng)主要電路設(shè)計方法，研制出樣機(jī)并進(jìn)行了實驗，實驗結(jié)果表明，該控制系統(tǒng)參數(shù)在PWM為1kHz，占空比為80%時，126kV真空斷路器機(jī)械參數(shù)為：合閘時間為40ms，分閘時間為30ms；平均合閘速度分別為2.42m/s，平均分閘速度分別為3.45m/s。驗證了電機(jī)操動機(jī)構(gòu)技術(shù)對高壓真空斷路器控制的有效性。 （5）以126kV高壓真空斷路器的機(jī)械特性為測試對象，建立了電機(jī)操動機(jī)構(gòu)控制實驗系統(tǒng)，并針對斷路器不同的運行狀態(tài)：分/合閘操作、自動重合閘、分階段速度調(diào)控及速度跟蹤等實驗分別進(jìn)行研究。實驗結(jié)果與設(shè)計理論對比分析結(jié)果表明：所研究的永磁擺角力矩電機(jī)操動機(jī)構(gòu)及控制系統(tǒng)滿足設(shè)計要求，可以對高壓真空斷路器運行狀態(tài)進(jìn)行有效控制。
[Abstract]:In order to meet the demands of the intelligent power grid construction for the intelligent equipment, the control performance and the operation reliability of the high-voltage circuit breaker are improved, and more and more attention has been paid to the motor operating mechanism of the modern intelligent control technology. In this paper, a 126kV high-voltage vacuum circuit breaker is used to control the motor operating mechanism of the object, and the moving characteristics of the breaking and closing of the circuit breaker, the design and simulation of the stator rotor of the motor structure and the control method of the motion process are studied. The driving control technology and the practical engineering application have been deeply studied. In this paper, the main research work is as follows: (1) The dynamic equation of the motor drive of 126kV high-voltage vacuum circuit breaker is set up and solved, and the basis of the selection of the design parameters of the permanent-magnet drive motor is given. And the speed of the switching-on operation of the circuit breaker by the structural design parameters of the motor mechanism is further studied. In order to increase the controllability of the permanent magnet motor mechanism and to reduce the volume of the permanent magnet motor, the design scheme of four driving motor rotors such as the surface mount type, the dovetail groove surface mount type, the linear embedded type and the external V insert type are analyzed. On the basis of the improvement of the multi-slot double-layer surface-mounted embedded stator and rotor permanent-magnet motor (2) The operation mechanism of the permanent-magnet motor, which takes into account the characteristics of the IGBT and the anti-and-diode, is established. In this paper, the control model of the control system current loop, speed ring and position ring of the servo motor operating mechanism is given through in-depth analysis of the components of the servo motor operating mechanism, and the speed characteristic of the contact speed of the vacuum arc-extinguishing chamber The simulation results show that the contact velocity curve of the motor mechanism of the conventional PID control method is tracked, the response time of the system is slow, and in the first 15 ms, According to the characteristics of the control system of the servo motor mechanism of the vacuum circuit breaker, the fuzzy immune PID speed follow-up tracking intelligent control method of the permanent magnet motor mechanism is put forward according to the characteristic of the control system of the servo motor mechanism of the vacuum circuit breaker, and according to the space vector PWM, the fuzzy immune PID speed follow-up tracking intelligent control method the mechanism of the control is adjusted, the voltage is realized, The simulation results show that, compared with the traditional PID control, the intelligent control method can effectively reduce the tracking error of the system, has higher robustness, and can accurately speed the dynamic performance of the permanent magnet motor operating mechanism of the circuit breaker In order to realize the complex control algorithm and the real-time performance of the system, the DSP 28335 + FPGA + single-chip microcomputer multi-CPU structure full-digital circuit breaker servo electric machine is developed for the purpose of realizing the complex control algorithm and the real-time performance of the system. The control system of the machine operating mechanism is given. The main circuit design method of the control system is given. The prototype is developed and the experiment is carried out. The experimental results show that when the PWM is 1 kHz and the duty cycle is 80%, the mechanical parameters of the 126kV vacuum circuit breaker are as follows: the closing time is 40 ms, The switching-off time is 30 ms; the average closing speed is 2.42 m/ s, and the average switching speed is divided The high-pressure vacuum is verified by the motor operating mechanism technology for 3.45 m/ s. The effectiveness of the control of the circuit breaker is as follows: (5) The mechanical characteristic of the 126kV high-voltage vacuum circuit breaker is the test object, the control experiment system of the motor operating mechanism is established, and the operation state of the circuit breaker is different: the switch-on operation, the automatic reclosing, the stage speed regulation and the speed The experimental results and the design theory are compared and analyzed. The results of the comparison between the experimental results and the design theory show that the permanent magnet swing angle motor operating mechanism and the control system can meet the design requirements and can open the high-voltage vacuum circuit
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TM561.2
本文編號：2433153
[Abstract]:In order to meet the demands of the intelligent power grid construction for the intelligent equipment, the control performance and the operation reliability of the high-voltage circuit breaker are improved, and more and more attention has been paid to the motor operating mechanism of the modern intelligent control technology. In this paper, a 126kV high-voltage vacuum circuit breaker is used to control the motor operating mechanism of the object, and the moving characteristics of the breaking and closing of the circuit breaker, the design and simulation of the stator rotor of the motor structure and the control method of the motion process are studied. The driving control technology and the practical engineering application have been deeply studied. In this paper, the main research work is as follows: (1) The dynamic equation of the motor drive of 126kV high-voltage vacuum circuit breaker is set up and solved, and the basis of the selection of the design parameters of the permanent-magnet drive motor is given. And the speed of the switching-on operation of the circuit breaker by the structural design parameters of the motor mechanism is further studied. In order to increase the controllability of the permanent magnet motor mechanism and to reduce the volume of the permanent magnet motor, the design scheme of four driving motor rotors such as the surface mount type, the dovetail groove surface mount type, the linear embedded type and the external V insert type are analyzed. On the basis of the improvement of the multi-slot double-layer surface-mounted embedded stator and rotor permanent-magnet motor (2) The operation mechanism of the permanent-magnet motor, which takes into account the characteristics of the IGBT and the anti-and-diode, is established. In this paper, the control model of the control system current loop, speed ring and position ring of the servo motor operating mechanism is given through in-depth analysis of the components of the servo motor operating mechanism, and the speed characteristic of the contact speed of the vacuum arc-extinguishing chamber The simulation results show that the contact velocity curve of the motor mechanism of the conventional PID control method is tracked, the response time of the system is slow, and in the first 15 ms, According to the characteristics of the control system of the servo motor mechanism of the vacuum circuit breaker, the fuzzy immune PID speed follow-up tracking intelligent control method of the permanent magnet motor mechanism is put forward according to the characteristic of the control system of the servo motor mechanism of the vacuum circuit breaker, and according to the space vector PWM, the fuzzy immune PID speed follow-up tracking intelligent control method the mechanism of the control is adjusted, the voltage is realized, The simulation results show that, compared with the traditional PID control, the intelligent control method can effectively reduce the tracking error of the system, has higher robustness, and can accurately speed the dynamic performance of the permanent magnet motor operating mechanism of the circuit breaker In order to realize the complex control algorithm and the real-time performance of the system, the DSP 28335 + FPGA + single-chip microcomputer multi-CPU structure full-digital circuit breaker servo electric machine is developed for the purpose of realizing the complex control algorithm and the real-time performance of the system. The control system of the machine operating mechanism is given. The main circuit design method of the control system is given. The prototype is developed and the experiment is carried out. The experimental results show that when the PWM is 1 kHz and the duty cycle is 80%, the mechanical parameters of the 126kV vacuum circuit breaker are as follows: the closing time is 40 ms, The switching-off time is 30 ms; the average closing speed is 2.42 m/ s, and the average switching speed is divided The high-pressure vacuum is verified by the motor operating mechanism technology for 3.45 m/ s. The effectiveness of the control of the circuit breaker is as follows: (5) The mechanical characteristic of the 126kV high-voltage vacuum circuit breaker is the test object, the control experiment system of the motor operating mechanism is established, and the operation state of the circuit breaker is different: the switch-on operation, the automatic reclosing, the stage speed regulation and the speed The experimental results and the design theory are compared and analyzed. The results of the comparison between the experimental results and the design theory show that the permanent magnet swing angle motor operating mechanism and the control system can meet the design requirements and can open the high-voltage vacuum circuit
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TM561.2
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