126kV高压真空断路器永磁电机操动机构研究
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摘要
为满足智能电网与开关设备智能化的发展需求，提高高压断路器的操控性能及运行可靠性，本文提出应用于高压真空断路器的永磁摆角力矩电机（Permanent MagnetSwing Angle Torque Motor，PMSATM）操动机构。该操动机构利用PMSATM驱动断路器动触头进行分合闸操作，响应速度快，优化预定行程曲线，且易于实现通讯、实时监测和故障诊断等功能。课题以126kV高压真空断路器为研究对象，从断路器开断与关合的运动特性、PMSATM设计、运动过程分段调节的方法、动态性能测试及实际工程应用方面进行深入研究。
本文主要做了如下几个方面的工作：
（1）研究真空断路器与电机操动机构运动及动力配合特性。采用虚拟样机技术建立真空断路器电机操动机构的运动及动力学模型，通过实测数据验证模型的正确性。基于126kV高压真空断路器的机械特性参数要求，提出动触头分合闸运动特性的变化范围，采用分段函数和虚拟样机的方法建立不同分合闸速度下绝缘拉杆行程的数学模型，设计模型不同阶段的速度特性。分析系统中各部件的结构、运动变化规律及部件间的制约关系，给出驱动电机在分合闸过程中转角变化范围、等效转动惯量和负载力矩特性等。
（2）基于永磁电机设计及瞬态有限元理论，建立PMSATM结构设计、参数选择及动态性能的计算模型。提出以峰值转矩、峰值转速、转角范围及短时工作状态等为设计要求，采用结构及参数设计与动态性能计算相结合的方法对PMSATM进行设计，给出定转子结构、励磁方式、转矩常数、电动势常数、时间常数及极对数等选择依据，建立PMSATM场-路-运动耦合的时步有限元模型；研究长径比、匝径比、永磁厚度及极弧系数对PMSATM转角和电磁转矩特性的影响，通过仿真与部分实测数据的对比，验证计算模型的正确性。
（3）研究PMSATM在开断与关合过程中分段调节的实现方法。考虑驱动电机在开断和关合过程不同转角阶段的转速变化，针对操作电压、气隙长度及电枢绕组结构分别提出分段电压起动电机、变气隙结构电机和非对称绕组结构电机，给出三种电机的结构特点、设计方案及转角特性变化，通过部分实测数据验证方案的合理性，且其动态性能满足真空断路器的操作要求。对比分析表明，分段电压起动电机比变气隙结构电机和非对称绕组电机在不同转角阶段具有更好的转速特性。
（4）研制PMSATM及驱动控制系统样机，完成高压真空断路器与实验样机的动态特性测试。对比不同电源电压和相同条件下重复性操作对动触头行程特性的影响；采用分段调节驱动控制器PWM输出占空比的方法，实现PMSATM在分合闸运动过程的分段调节；通过测量结果与计算结果对比，验证PMSATM理论设计方法及动态性能计算的正确性和适用性。
As the construction of smart grid and demand of intelligent switch equipment, thepermanent magnet swing angle torque motor (PMSATM) operating mechanism is selectedand presented in order to improve the control performance and operating reliability of highvoltage circuit breaker in this paper. The operating mechanism can achieve the openingand closing operation for circuit breaker by using the PMSATM. It has many function suchas fast response speed, optimize the itinerary curve, and easy to realize the communication,real-time monitoring and fault diagnosis etc. Making the126kV high voltage vacuumcircuit breaker as the research object, the research are carried out from the opening andclosing moving characteristics of the circuit breaker, the design of PMSATM, segmentadjustment method in moving process, the dynamic performance testing and the practicalengineering applications.
The main contents of the thesis can be concluded as follow:
（1）The motion and dynamical coordination characteristics of vacuum circuit breakerand motor operating mechanism are researched. The virtual prototype technology isemployed to establish the dynamics model of vacuum circuit breaker motor operatingmechanism, and it verifies the correctness of the model by comparing with the measureddata. The range of opening and closing motion for contact are put forward, and the strokemathematical model of insulating pole are built in the different opening and closing speedby using the method of section function and virtual prototype, which design the differentspeed in different stage based on mechanical characteristic requeirement of126kV highvoltage vacuum circuit breakers. The structure, moving rule and constraint relationshipbetween the different parts are analized, and given the angle range, equivalent moment ofinertia and load torque characteristics of driving motor in opening and closing operation.
（2）Base on the theory of permanent magnet motor design and transient finiteelement, the structure design, selection of parameters and calculating model of dynamicperformance of PMSATM are founded. Employing the peak torque, peak rotational speed, limited angle and short-time working state as the design target, the PMSATM is design byusing the method that combing the structure and main parameters design and dynamicperformance calculation. The structure size of stator and rotor, the excitation mode of rotor,torque constant, EMF constant, number of pole pairs and time constant are discussed andgiven out the design value. And the flied-road-motion coupling finite element models ofPMSATM are established through the analysis of topology circuit structure and blockcircuit equation in different operation interval under the opening operation. The angle andelectro-magnetic torque characteristics of driving motor are carried out under the differentparameters such as the length to diameter ratio, turns and line width ratio, permanentmagnet thickness and pole arc coefficient., The simulation model is correct throughcomparing with the performance testing results, and the dynamic parameters of drivingmotor meet with the average speed requirement of circuit breaker under the best structureand winding parameters.
（3）The segment adjustment realization method of PMSATM are researched inopening and closing operating process. Considering the change of rotation speed indifferent angle stage for driving motor, the segment voltage starting motor, variable air-gapstructure motor and asymmetric winding structure motor are proposed from the operationvoltage, excitation structure and armature winding. The schemes of three type motor arecarried out and the dynamic performances meet with the requirement of circuit breakerthrough comparing with the testing results. Comparing with the variable air-gap structuremotor and asymmetric winding structure motor, the segment voltage starting motor havegood speed characteristics in the different stage, and it can provide a better basis for theservo control in the next step.
（4）The testing system of vacuum circuit breaker and permanent magnet motor areestablished, and the prototype of PMSATM and controller are manufactured. The dynamiccharacteristics of vacuum circuit breaker and experimental prototype are measured inno-load condition, and analyzed the influence on the stroke of contact under the differentpower supply voltage and repetitive operation in the same condition. Considering thecompliant interrupting and closing characteristics of permanent magnet swing angle torquemotor, the adjustment PWM output duty cycle of driving controller is adapted to adjust thedifferent rotational speed in the different angle stage. Compared with the measuring resultsand the calculation results, it is indicated that the accurately and applicability of permanent magnet swing angle torque motor theory design method and the calculation of dynamicperformance.
本文主要做了如下几个方面的工作：
（1）研究真空断路器与电机操动机构运动及动力配合特性。采用虚拟样机技术建立真空断路器电机操动机构的运动及动力学模型，通过实测数据验证模型的正确性。基于126kV高压真空断路器的机械特性参数要求，提出动触头分合闸运动特性的变化范围，采用分段函数和虚拟样机的方法建立不同分合闸速度下绝缘拉杆行程的数学模型，设计模型不同阶段的速度特性。分析系统中各部件的结构、运动变化规律及部件间的制约关系，给出驱动电机在分合闸过程中转角变化范围、等效转动惯量和负载力矩特性等。
（2）基于永磁电机设计及瞬态有限元理论，建立PMSATM结构设计、参数选择及动态性能的计算模型。提出以峰值转矩、峰值转速、转角范围及短时工作状态等为设计要求，采用结构及参数设计与动态性能计算相结合的方法对PMSATM进行设计，给出定转子结构、励磁方式、转矩常数、电动势常数、时间常数及极对数等选择依据，建立PMSATM场-路-运动耦合的时步有限元模型；研究长径比、匝径比、永磁厚度及极弧系数对PMSATM转角和电磁转矩特性的影响，通过仿真与部分实测数据的对比，验证计算模型的正确性。
（3）研究PMSATM在开断与关合过程中分段调节的实现方法。考虑驱动电机在开断和关合过程不同转角阶段的转速变化，针对操作电压、气隙长度及电枢绕组结构分别提出分段电压起动电机、变气隙结构电机和非对称绕组结构电机，给出三种电机的结构特点、设计方案及转角特性变化，通过部分实测数据验证方案的合理性，且其动态性能满足真空断路器的操作要求。对比分析表明，分段电压起动电机比变气隙结构电机和非对称绕组电机在不同转角阶段具有更好的转速特性。
（4）研制PMSATM及驱动控制系统样机，完成高压真空断路器与实验样机的动态特性测试。对比不同电源电压和相同条件下重复性操作对动触头行程特性的影响；采用分段调节驱动控制器PWM输出占空比的方法，实现PMSATM在分合闸运动过程的分段调节；通过测量结果与计算结果对比，验证PMSATM理论设计方法及动态性能计算的正确性和适用性。
As the construction of smart grid and demand of intelligent switch equipment, thepermanent magnet swing angle torque motor (PMSATM) operating mechanism is selectedand presented in order to improve the control performance and operating reliability of highvoltage circuit breaker in this paper. The operating mechanism can achieve the openingand closing operation for circuit breaker by using the PMSATM. It has many function suchas fast response speed, optimize the itinerary curve, and easy to realize the communication,real-time monitoring and fault diagnosis etc. Making the126kV high voltage vacuumcircuit breaker as the research object, the research are carried out from the opening andclosing moving characteristics of the circuit breaker, the design of PMSATM, segmentadjustment method in moving process, the dynamic performance testing and the practicalengineering applications.
The main contents of the thesis can be concluded as follow:
（1）The motion and dynamical coordination characteristics of vacuum circuit breakerand motor operating mechanism are researched. The virtual prototype technology isemployed to establish the dynamics model of vacuum circuit breaker motor operatingmechanism, and it verifies the correctness of the model by comparing with the measureddata. The range of opening and closing motion for contact are put forward, and the strokemathematical model of insulating pole are built in the different opening and closing speedby using the method of section function and virtual prototype, which design the differentspeed in different stage based on mechanical characteristic requeirement of126kV highvoltage vacuum circuit breakers. The structure, moving rule and constraint relationshipbetween the different parts are analized, and given the angle range, equivalent moment ofinertia and load torque characteristics of driving motor in opening and closing operation.
（2）Base on the theory of permanent magnet motor design and transient finiteelement, the structure design, selection of parameters and calculating model of dynamicperformance of PMSATM are founded. Employing the peak torque, peak rotational speed, limited angle and short-time working state as the design target, the PMSATM is design byusing the method that combing the structure and main parameters design and dynamicperformance calculation. The structure size of stator and rotor, the excitation mode of rotor,torque constant, EMF constant, number of pole pairs and time constant are discussed andgiven out the design value. And the flied-road-motion coupling finite element models ofPMSATM are established through the analysis of topology circuit structure and blockcircuit equation in different operation interval under the opening operation. The angle andelectro-magnetic torque characteristics of driving motor are carried out under the differentparameters such as the length to diameter ratio, turns and line width ratio, permanentmagnet thickness and pole arc coefficient., The simulation model is correct throughcomparing with the performance testing results, and the dynamic parameters of drivingmotor meet with the average speed requirement of circuit breaker under the best structureand winding parameters.
（3）The segment adjustment realization method of PMSATM are researched inopening and closing operating process. Considering the change of rotation speed indifferent angle stage for driving motor, the segment voltage starting motor, variable air-gapstructure motor and asymmetric winding structure motor are proposed from the operationvoltage, excitation structure and armature winding. The schemes of three type motor arecarried out and the dynamic performances meet with the requirement of circuit breakerthrough comparing with the testing results. Comparing with the variable air-gap structuremotor and asymmetric winding structure motor, the segment voltage starting motor havegood speed characteristics in the different stage, and it can provide a better basis for theservo control in the next step.
（4）The testing system of vacuum circuit breaker and permanent magnet motor areestablished, and the prototype of PMSATM and controller are manufactured. The dynamiccharacteristics of vacuum circuit breaker and experimental prototype are measured inno-load condition, and analyzed the influence on the stroke of contact under the differentpower supply voltage and repetitive operation in the same condition. Considering thecompliant interrupting and closing characteristics of permanent magnet swing angle torquemotor, the adjustment PWM output duty cycle of driving controller is adapted to adjust thedifferent rotational speed in the different angle stage. Compared with the measuring resultsand the calculation results, it is indicated that the accurately and applicability of permanent magnet swing angle torque motor theory design method and the calculation of dynamicperformance.
引文
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