基于永磁机构动态特性的真空断路器控制策略研究
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摘要
断路器分合闸时,电网的电流或者电压的相位并不确定,容易在分合闸过程中产生涌流及过电压,对电力系统产生较大的冲击。同步关合技术的出现,为缩短甚至避免出现断路器分合闸暂态过程提供了良好的解决方案。本文分析了同步关合的重要性及其实现机制,明确了断路器分合闸时间分散性是制约同步关合技术实现的主要难点。永磁真空断路器以其结构简单、零部件少、动作分散性小、可靠性高、寿命长等优点,成为实现同步关合的理想元件。然而永磁真空断路器受温度、控制电压、老化等因素的影响,分合闸时间仍会表现出较大的分散性,为减小分合闸时间分散性,同时减少操作能耗,优化真空断路器动触头的运动特性,提出了适用于一般永磁真空断路器的控制策略,主要完成了以下工作：
对电容激励模式下永磁真空断路器的动态方程进行了分析,并以此为基础提出了基于电流源激励模式的动态方程。为分析电流源激励模式与电容激励模式的区别,建立了Ansoft仿真模型,对两种模式下,机构的动态特性进行了分析对比。由于在电流源激励模式下,真空断路器的分合闸时间不受电容容量和控制电压的影响,从而更有利于保持分合闸时间的稳定性。
为实现基于线圈电流闭环的控制方式,文中详细分析了滞环控制方法的实现原理,针对方法的不足之处,对其进行了改进,提出了基于线性插值PID模式的滞环控制策略。分析了线性插值PID控制方式与经典PID控制的异同,并利用基于线性插值PID的滞环控制方法实现了对线圈电流的跟踪控制,为分合闸时,实现稳定、高效的电流源提供了基础。通过对合闸时线圈电流的分析,提出了获取较优动态特性曲线的方法,并通过利用改进的PID滞环控制方法,实现了对断路器分合闸特性的控制,将开关分合闸时间分散性控制在±0.3ms以内。
为实现对永磁机构合闸时动态特性的优化,提出了变电压变输出能量(VVVE)的断路器合闸控制方法。分析了开环状态下永磁机构合闸过程的线圈电流,采用曲线拟合方式给出了合闸过程的电流方程,并对拟合方程中各项参数求解方法进行了详细的说明,给出了相应的实例证明了拟合方法的准确性。在此基础上提出了VVVE的调节方法,通过VV调节实现合闸时间的粗调,在提高合闸平均速度的同时,限制了动触头的刚合速度,通过VE调节实现了对合闸时间的微调,以及对刚合速度的控制。由于提高开关合闸平均速度与减小合闸碰撞能量一直是断路器关合过程的一个矛盾,VVVE控制方案的提出为减小上述矛盾的影响提供了很好的解决方法。
为实现同步关合,文中设计了相应的永磁真空断路器控制器,对控制器的主要硬件构成进行了说明。结合同步关合的关键技术实现,说明了VWE在同步关合控制过程中所表现出的优异性能。虽然WVE是在12kV单稳态真空断路器实验基础上所获得的结论,但是本文通过所设计的控制器,成功将WVE控制策略用于40.5kV单稳态永磁真空断路器的控制实验中,从而说明了VVVE控制策略具有一般性。文中对40.5kV单稳态真空断路器在高低温下的合闸时间分散性进行了分析,并在此基础上,研究了如何通过控制策略实现断路器合闸时间的温度补偿,并给出针对40.5kV单稳态真空断路器的补偿方程。
When opening or closing a circuit breaker, the phase of grid current or voltage is uncertainty, which may generate inrush current or overvoltage and impact greatly on the grid. Synchronous control technology provides a good solution for this problem. The importance of synchronous control technology and its implementation mechanism was analyzed in this thesis, and it was clear that the dispersion of closing or opening time of circuit breaker is the main difficulties to achieve synchronous control technology. Since vacuum circuit breaker (VCB) with permanent magnetic actuator (PMA) has a simple structure, fewer parts, little opening or closing dispersion, high reliability, long life and many other advantages, it had become the ideal component to achieve synchronous control technology. However, the dispersion of VCB operation will be affected by the changing of environment temperature and control voltage, aging of the actuator and other factors. In order to reduce the dispersion of the operation and its power consumption, and also to improve the dynamic behavior of the moving contact in VCB, a new control technology for general VCB with permanent magnetic actuator was proposed in this thesis. The main work which had been done in this thesis is shown as follows:
The dynamic behavior equation of PMA with capacitor as the excitation source was analyzed and based on which the dynamic behavior equation of PMA with current excitation was deduced. To analyze the difference between the two excitation modes^the simulation model was established with Ansoft. The dynamic behavior using two different sources was analyzed and compared. Since the action time of VCB can not be affected by the changing of the control voltage or capacitance of the capacitor, it will contribute to maintaining the stability of the time for opening and closing VCB.
To achieve closed-loop control based on the coil current of PMA, the principle of hysteretic control was analyzed in detail, and an improved control strategy based on linear interpolation PID control strategy was proposed to overcome the shortcoming of traditional hysteretic control. The differences between the linear interpolation PID control strategy proposed in this paper and the traditional PID control strategy was analyzed. With the control strategy based on linear interpolation PID hysteretic control which provided a powerful tool for achieving stable and efficient current source, the coil current can be effectively tracked. By analyzing the current in coil when closing VCB, a method for obtaining optimum reference current curve to get better dynamic behavior of moving contact was proposed. With the reference current curve and the new PID hysteretic control strategy, the dispersion of opening and closing time of VCB can be limited to±0.3ms.
In order to improve the dynamic behavior of the moving contacts in VCB, a method of varying voltage and varying output energy (VVVE) was proposed. Features of the current when closing VCB under open looped control were analyzed, and the current equation for closing VCB was given by curve fitting way. The method for solving the equation parameters was introduced in detail, and the corresponding example was given in this thesis to demonstrate the accuracy of the fitting method. Based on the method, VVVE control strategy was proposed, by varying the initial voltage (VV) with the condition that the output energy of the capacitor were maintained, the closing time could be regulated coarsely and the speed of moving contact could be limited; and by varying the output energy (VE) with the condition of maintaining the initial voltage of the capacitor, the closing time could be regulated finely, and the speed of the moving contact could also be regulated. Since reducing the collision energy between the contacts when closing VCB and increasing speed of the moving contact in order to reduce the closing time has been always a contradiction, VVVE control strategy provides an effective method for reducing the influence of the contradiction.
A controller for controlling VCB was designed to achieve synchronous controlling technology and the main structure of the hardware was described. VVVE controlling strategy had exhibited excellent performance in the realization of synchronous controlling. Although VVVE controlling strategy was concluded from the experiments with12kV VCB, it had been successfully used to control40.5kV VCB with the controller. Many experiments were done at different temperatures with40.5kV VCB to analyze the dispersion of closing time. Based on the experiments, the compensation method for closing time changed by temperature varied was implemented.
对电容激励模式下永磁真空断路器的动态方程进行了分析,并以此为基础提出了基于电流源激励模式的动态方程。为分析电流源激励模式与电容激励模式的区别,建立了Ansoft仿真模型,对两种模式下,机构的动态特性进行了分析对比。由于在电流源激励模式下,真空断路器的分合闸时间不受电容容量和控制电压的影响,从而更有利于保持分合闸时间的稳定性。
为实现基于线圈电流闭环的控制方式,文中详细分析了滞环控制方法的实现原理,针对方法的不足之处,对其进行了改进,提出了基于线性插值PID模式的滞环控制策略。分析了线性插值PID控制方式与经典PID控制的异同,并利用基于线性插值PID的滞环控制方法实现了对线圈电流的跟踪控制,为分合闸时,实现稳定、高效的电流源提供了基础。通过对合闸时线圈电流的分析,提出了获取较优动态特性曲线的方法,并通过利用改进的PID滞环控制方法,实现了对断路器分合闸特性的控制,将开关分合闸时间分散性控制在±0.3ms以内。
为实现对永磁机构合闸时动态特性的优化,提出了变电压变输出能量(VVVE)的断路器合闸控制方法。分析了开环状态下永磁机构合闸过程的线圈电流,采用曲线拟合方式给出了合闸过程的电流方程,并对拟合方程中各项参数求解方法进行了详细的说明,给出了相应的实例证明了拟合方法的准确性。在此基础上提出了VVVE的调节方法,通过VV调节实现合闸时间的粗调,在提高合闸平均速度的同时,限制了动触头的刚合速度,通过VE调节实现了对合闸时间的微调,以及对刚合速度的控制。由于提高开关合闸平均速度与减小合闸碰撞能量一直是断路器关合过程的一个矛盾,VVVE控制方案的提出为减小上述矛盾的影响提供了很好的解决方法。
为实现同步关合,文中设计了相应的永磁真空断路器控制器,对控制器的主要硬件构成进行了说明。结合同步关合的关键技术实现,说明了VWE在同步关合控制过程中所表现出的优异性能。虽然WVE是在12kV单稳态真空断路器实验基础上所获得的结论,但是本文通过所设计的控制器,成功将WVE控制策略用于40.5kV单稳态永磁真空断路器的控制实验中,从而说明了VVVE控制策略具有一般性。文中对40.5kV单稳态真空断路器在高低温下的合闸时间分散性进行了分析,并在此基础上,研究了如何通过控制策略实现断路器合闸时间的温度补偿,并给出针对40.5kV单稳态真空断路器的补偿方程。
When opening or closing a circuit breaker, the phase of grid current or voltage is uncertainty, which may generate inrush current or overvoltage and impact greatly on the grid. Synchronous control technology provides a good solution for this problem. The importance of synchronous control technology and its implementation mechanism was analyzed in this thesis, and it was clear that the dispersion of closing or opening time of circuit breaker is the main difficulties to achieve synchronous control technology. Since vacuum circuit breaker (VCB) with permanent magnetic actuator (PMA) has a simple structure, fewer parts, little opening or closing dispersion, high reliability, long life and many other advantages, it had become the ideal component to achieve synchronous control technology. However, the dispersion of VCB operation will be affected by the changing of environment temperature and control voltage, aging of the actuator and other factors. In order to reduce the dispersion of the operation and its power consumption, and also to improve the dynamic behavior of the moving contact in VCB, a new control technology for general VCB with permanent magnetic actuator was proposed in this thesis. The main work which had been done in this thesis is shown as follows:
The dynamic behavior equation of PMA with capacitor as the excitation source was analyzed and based on which the dynamic behavior equation of PMA with current excitation was deduced. To analyze the difference between the two excitation modes^the simulation model was established with Ansoft. The dynamic behavior using two different sources was analyzed and compared. Since the action time of VCB can not be affected by the changing of the control voltage or capacitance of the capacitor, it will contribute to maintaining the stability of the time for opening and closing VCB.
To achieve closed-loop control based on the coil current of PMA, the principle of hysteretic control was analyzed in detail, and an improved control strategy based on linear interpolation PID control strategy was proposed to overcome the shortcoming of traditional hysteretic control. The differences between the linear interpolation PID control strategy proposed in this paper and the traditional PID control strategy was analyzed. With the control strategy based on linear interpolation PID hysteretic control which provided a powerful tool for achieving stable and efficient current source, the coil current can be effectively tracked. By analyzing the current in coil when closing VCB, a method for obtaining optimum reference current curve to get better dynamic behavior of moving contact was proposed. With the reference current curve and the new PID hysteretic control strategy, the dispersion of opening and closing time of VCB can be limited to±0.3ms.
In order to improve the dynamic behavior of the moving contacts in VCB, a method of varying voltage and varying output energy (VVVE) was proposed. Features of the current when closing VCB under open looped control were analyzed, and the current equation for closing VCB was given by curve fitting way. The method for solving the equation parameters was introduced in detail, and the corresponding example was given in this thesis to demonstrate the accuracy of the fitting method. Based on the method, VVVE control strategy was proposed, by varying the initial voltage (VV) with the condition that the output energy of the capacitor were maintained, the closing time could be regulated coarsely and the speed of moving contact could be limited; and by varying the output energy (VE) with the condition of maintaining the initial voltage of the capacitor, the closing time could be regulated finely, and the speed of the moving contact could also be regulated. Since reducing the collision energy between the contacts when closing VCB and increasing speed of the moving contact in order to reduce the closing time has been always a contradiction, VVVE control strategy provides an effective method for reducing the influence of the contradiction.
A controller for controlling VCB was designed to achieve synchronous controlling technology and the main structure of the hardware was described. VVVE controlling strategy had exhibited excellent performance in the realization of synchronous controlling. Although VVVE controlling strategy was concluded from the experiments with12kV VCB, it had been successfully used to control40.5kV VCB with the controller. Many experiments were done at different temperatures with40.5kV VCB to analyze the dispersion of closing time. Based on the experiments, the compensation method for closing time changed by temperature varied was implemented.
引文
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