智能电磁接触器吸合过程RBR控制策略
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摘要
基于批次对批次(run-by-run,RBR)控制方式对电磁接触器的吸合过程展开研究,旨在不改变接触器自身机械结构参数的前提下从算法角度实现接触器的动作时间及弹跳控制。通过利用电磁接触器重复操作的特性,研究RBR方法应用于接触器开关的特殊性,据此构建接触器吸合过程的RBR控制优化数学模型,提出完整的控制流程并给出励磁电流及其作用时间的设定准则。模型不依赖接触器的具体参数,通用性强;引入损失函数对接触器的历史操作信息进行反馈评估与分析,滚动优化过程模型并调整控制决策,迭代求解吸合过程的线圈电流闭环参考序列,改变依赖离线获得的最优参量始终指导接触器在线时变运行的局限;为使控制策略不局限于一个最优解,兼顾接触器在运行过程中由于时变、干扰等引起的不确定性,引入决策向量备选矩阵,始终把新的优化建立在实际的基础上,使控制保持实际上的最优;相关仿真及实验验证了控制策略的有效性,能有效减小吸合时间的动作分散性并抑制触头弹跳,对接触器的吸合过程智能控制具有普遍意义。
Based on the run-by-run(RBR) control method,this paper studies the closing process of electromagnetic contactor. The purpose of this work is to control the contact bounce and closing time without changing any structure of the contactor. We focus on the speciality of the RBR method applied to the contactor by using the repetitive functioning of electromagnetic contactor. Based on this, the RBR control optimization mathematical model of contactor's closing process was constructed, a complete control flow was proposed and the excitation current and its action time were set. The model does not depend on the specific parameters of the contactor and is highly versatile. The loss function for evaluating the historical operation information of contactor was introduced, which automatically optimize process model and adjust control decisions, and the coil current closed-loop reference sequence of the closing process is iteratively solved, changes the limitations that contactor online operating depends on off-line parameters. In order to make control strategy not limited to an optimal solution, taking into account the uncertainty caused by time-varying, interference,during the operation of the contactor,the decision vector candidate matrix is introduced, always build new optimizations on practical basis so that control remains practically optimal. Related simulation and experiment prove the effectiveness of the proposed strategy, which can effectively reduce the dispersion of the closing time and the bounce of the contact. The research has universal significance for the intelligent control of contactor's closing process.
Based on the run-by-run(RBR) control method,this paper studies the closing process of electromagnetic contactor. The purpose of this work is to control the contact bounce and closing time without changing any structure of the contactor. We focus on the speciality of the RBR method applied to the contactor by using the repetitive functioning of electromagnetic contactor. Based on this, the RBR control optimization mathematical model of contactor's closing process was constructed, a complete control flow was proposed and the excitation current and its action time were set. The model does not depend on the specific parameters of the contactor and is highly versatile. The loss function for evaluating the historical operation information of contactor was introduced, which automatically optimize process model and adjust control decisions, and the coil current closed-loop reference sequence of the closing process is iteratively solved, changes the limitations that contactor online operating depends on off-line parameters. In order to make control strategy not limited to an optimal solution, taking into account the uncertainty caused by time-varying, interference,during the operation of the contactor,the decision vector candidate matrix is introduced, always build new optimizations on practical basis so that control remains practically optimal. Related simulation and experiment prove the effectiveness of the proposed strategy, which can effectively reduce the dispersion of the closing time and the bounce of the contact. The research has universal significance for the intelligent control of contactor's closing process.
引文
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[14]郭凯伟,王立国,张超羽,等.基于模型预测控制的接触器开关弹跳抑制研究[J].中国电机工程学报,2017,37(9):269-277.Guo Kaiwei,Wang Liguo,Zhang Chaoyu,et al.Research on suppressing bounce of synchronization contactor based on model predictive control[J].Proceedings of the CSEE,2017,37(9):269-277(in Chinese).
[15]Espinosa A G,Riba Ruiz J R,Cusido J,et al.Sensorless control and fault diagnosis of electromechanical contactors[J].IEEE Trans.on Industrial Electronics,2008,55(10):3742-3750.
[16]Castillo E D,Hurwitz A M.Run-to-run process control:literature review and extensions[J].Journal of Quality Technology,1997,29(2):184-196.
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[19]Srinivasan B,Bonvin D,Visser E,et al.Dynamic optimization of batch processes:ii.role of measurements in handling uncertainty[J].Computers&Chemical Engineering,2003,27(1):27-44.
[20]吕锦柏,王毅,谢将剑,等.基于线圈电流的永磁真空断路器控制方法[J].高电压技术,2013,39(4):860-868.LüJinbo,Wang Yi,et al.Control method for permanent magnetic vacuum circuit breaker based on coil current[J].High Voltage Engineering,2013,39(4):860-868(in Chinese).
[21]汤龙飞,许志红.智能交流接触器自校正控制技术[J].中国电机工程学报,2015,35(6):1516-1523.Tang Longfei,Xu Zhihong.The control technology of self-correction for intelligent AC contactors[J].Proceedings of the CSEE,2015,35(6):1516-1523(in Chinese).
[22]罗海海,许志红.组合式开关智能分相控制技术的研究[J].电器与能效管理技术,2016(1):14-21.Luo Haihai,Xu Zhihong.Researchn intelligent individualphase control technology for combined-switches[J].Electrical&Energy Management Technology,2016(1):14-21(in Chinese).
[2]Lin H,Wang X,Fang S,et al.Design,optimization,and intelligent control of permanent-magnet contactor[J].IEEE Transactions on Industrial Electronics,2013,60(11):5148-5159.
[3]刘悦.基于弹跳抑制机理分析的同步开关技术研究[D].哈尔滨:哈尔滨工业大学,2015.Liu Yue.Research on synchronous switch based on collision suppression mechanisms[D].Harbin:Harbin Institute of Technology,2015(in Chinese).
[4]陈明帆,段雄英,黄智慧,等.真空开关动作时间的自适应控制[J].中国电机工程学报,2010,30(36):22-26.Chen Mingfan,Duan Xiongying,Huang Zhihui,et al.Adaptive control for operating time of vacuum switch[J].Proceedings of the CSEE,2010,30(36):22-26(in Chinese).
[5]汪先兵,林鹤云,房淑华,等.无位置传感器的智能永磁接触器弱磁控制及合闸动态特性分析[J].中国电机工程学报,2011,31(18):93-99.Wang Xianbing,Lin Heyun,Fang Shuhua,et al.Analysis of flux-weakening control and dynamic characteristic for making process of sensorless intelligent permanent magnet contactor[J].Proceedings of the CSEE,2011,31(18):93-99(in Chinese).
[6]Espinosa A G,Ruiz J R R,CusidóJ,et al.Closed-loop controller for eliminating the contact bounce in DC core contactors[J].IEEE Transactions on Components and Packaging Technologies,2010,33(3):535-543.
[7]汤龙飞,许志红.交流电磁阀智能控制模块设计[J].电工技术学报,2014,29(5):246-253.Tang Longfei,Xu Zhihong.Design of an intelligent control module for AC electromagnetic valves[J].Transactions of China Electrotechnical Society,2014,29(5):246-253(in Chinese).
[8]Dong Enyuan,Qin Taotao,Wang Yongxing,et al.Experimental research on speed control of vacuum breaker[J].IEEE Transactions on Power Delivery,2013,28(4):2594-2601.
[9]舒亮,许成文,吴桂初,等.电磁操动机构运动特性数值计算的耦合建模方法研究[J].中国电机工程学报,2015,35(17):4524-4530.Shu Liang,Xu Chengwen,Wu Guichu,et al.Coupled modeling and numerical calculations of the dynamic characteristics of magnetic actuator[J].Proceedings of the CSEE,2015,35(17):4524-4530(in Chinese).
[10]汪先兵.智能调节型永磁接触器合闸过程动态特性仿真与实验分析[J].系统仿真报,2014,26(6):1331-1336,1342.Wang Xianbing.Simulation and experiment analysis of dynamic characteristic for making process of intelligent adjustment permanent magnet contactor[J].Journal of System Simulation,2014,26(6):1331-1336,1342(in Chinese).
[11]秦涛涛,董恩源,陈宇硕,等.真空断路器循迹控制[J].中国电机工程学报,2014,34(33):5983-5990.Qin Taotao,Dong Enyuan,Chen Yushuo,et al.Path tracking control of vacuum circuit breaker[J].Proceedings of the CSEE,2014,34(33):5983-5990(in Chinese).
[12]郑昕,许志红.交流接触器最佳分断区域的探讨[J].电工技术学报,2016,31(7):198-206.Zheng Xin,Xu Zhihong.An exploration on the best breaking areas of AC contactors[J].Transactions of China Electrotechnical Society,2016,31(7):198-206(in Chinese).
[13]Moraes P M,Perin A J.An electronic control unit for reducing contact bounce in electromagnetic contactors[J].IEEE Trans.on Industrial Electronics,2008,55(2):861-870.
[14]郭凯伟,王立国,张超羽,等.基于模型预测控制的接触器开关弹跳抑制研究[J].中国电机工程学报,2017,37(9):269-277.Guo Kaiwei,Wang Liguo,Zhang Chaoyu,et al.Research on suppressing bounce of synchronization contactor based on model predictive control[J].Proceedings of the CSEE,2017,37(9):269-277(in Chinese).
[15]Espinosa A G,Riba Ruiz J R,Cusido J,et al.Sensorless control and fault diagnosis of electromechanical contactors[J].IEEE Trans.on Industrial Electronics,2008,55(10):3742-3750.
[16]Castillo E D,Hurwitz A M.Run-to-run process control:literature review and extensions[J].Journal of Quality Technology,1997,29(2):184-196.
[17]Butler S W,Stefani J A.Supervisory run-to-run control of polysilicon gate etch using in situ ellipsometry[J].IEEETransactions on Semiconductor Manufacturing,1994,7(2):193-201.
[18]贾立,施继平,邱铭森.一种间歇过程产品质量迭代学习控制策略[J].化工学报,2009,60(8):2017-2023.Jia Li,Shi Jiping,Qiu Mingsen.A novel iterative learning control for product quality control in batch process[J].CIESC Journal,2009,60(8):2017-2023(in Chinese).
[19]Srinivasan B,Bonvin D,Visser E,et al.Dynamic optimization of batch processes:ii.role of measurements in handling uncertainty[J].Computers&Chemical Engineering,2003,27(1):27-44.
[20]吕锦柏,王毅,谢将剑,等.基于线圈电流的永磁真空断路器控制方法[J].高电压技术,2013,39(4):860-868.LüJinbo,Wang Yi,et al.Control method for permanent magnetic vacuum circuit breaker based on coil current[J].High Voltage Engineering,2013,39(4):860-868(in Chinese).
[21]汤龙飞,许志红.智能交流接触器自校正控制技术[J].中国电机工程学报,2015,35(6):1516-1523.Tang Longfei,Xu Zhihong.The control technology of self-correction for intelligent AC contactors[J].Proceedings of the CSEE,2015,35(6):1516-1523(in Chinese).
[22]罗海海,许志红.组合式开关智能分相控制技术的研究[J].电器与能效管理技术,2016(1):14-21.Luo Haihai,Xu Zhihong.Researchn intelligent individualphase control technology for combined-switches[J].Electrical&Energy Management Technology,2016(1):14-21(in Chinese).