高压断路器电机操动机构控制系统的研究
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摘要
操动机构是断路器的重要组成部分,它不但要保证断路器长期的动作可靠性,而且要满足灭弧特性对操动机构的要求。高压断路器直线伺服电机操动机构采用直线电机驱动断路器操作杆,带动机构运动,实现分、合闸操作,具有良好的快速响应能力及控制性能。本文提出了直线电机操动系统控制方案,通过对操动过程的控制,使电机工作特性能较好地满足断路器开断和关合时的速度特性要求,进而实现智能控制。
文中首先介绍了断路器操动机构的发展历史和传统操动机构的特点,引出了新型电动机操动机构,并探讨了高压断路器与机构的配合问题,根据所选的灭弧室要求给出了高压断路器触头预定速度曲线。然后建立了直线伺服电机操动机构仿真控制系统,建立了单神经元PID控制算法的数学模型。对高压断路器触头运动特性控制过程进行了仿真,实现触头速度的跟踪控制,使其按理想运动特性曲线运动,实现最优操作。仿真结果证明了在配直线伺服电机操动机构的高压断路器触头运动控制系统中,单神经元PID控制是一种较理想、有效的控制方法。最后,试制了40.5kV户内真空断路器直线伺服电机操动机构控制系统样机,采用DSP作为控制器核心,分别对电容器组充、放电控制、电容电压检测、触头运动速度检测等部分的进行了设计。完成了控制器的硬件电路设计、相关应用程序和算法程序的编写与调试。实现了设计的主要功能,并通过了功能性试验验证。
实验结果表明,所研制的控制器设计合理,不但实现了操动机构控制系统所具备的一般功能,并在断路器操作过程中,对触头运动过程进行了控制,使其满足给定的特性要求,为实现开关真正意义上的智能化操作打下一定的基础。
As one of the important parts of a circuit breaker, the operating mechanism is required to guarantee long-term operational reliability of the circuit breaker as well as to be beneficial to arc extinction. Operating arm of linear motor operating mechanism to be droved by linear motor to realize the opening and closing operation, by which the quicker response ability and the better performance can be gained. The research of this thesis concentrates on control scheme of linear motor operating mechanism. A feasible control strategy is proposed to realize matching between circuit breaker counterforce characteristic and actuator output force characteristic, and the intelligent opening and closing of high voltage circuit breaker is carried out with the method.
At first, the development and characteristics of circuit breakers' operating mechanism in the past days is briefed and followed by an introduction to the new type of operating mechanism with basic structure and special requirement being elucidated. Matching between circuit breaker counterforce characteristic and actuator output force characteristic is discussed, and ideal movement contact curve calculated according to the characteristic of vacuum interrupters is given. Subsequently the control simulation model of linear servo motor mechanism is established. Mathematical model of single neuron intelligent PID is analyzed and adopted in the control system. Simulation has been carried out, the control and regulation on the moving contact movement during the opening and closing of the high voltage circuit breaker are realized which make the movement curve same as the ideal one. At last, linear-servo motor operating mechanism control system prototype for 40.5kV vacuum circuit breaker is manufactured. Control scheme is based on DSP, circuit of capacitance voltage charging, measuring, inverter and contact speed detecting are designed. The paper is completed in hardware circuit, emulation, the correlative programmer and arithmetic and debug. In the end, the function of motor operating mechanism control system was proved effective by experiment. The double closed-loop control scheme of speed and current of the moving contact is achieved during the opening and closing of the high voltage circuit breaker.
The motor operating mechanism controller realizes the main function in design. The research and experiment result proves that: the design structure of motor operating mechanism control system is reasonable. And it not only realizes commonly function of traditional operating mechanism, but also make moving contact movement characteristic be controlled which make the movement curve same as the ideal one. So, it can build better foundation for fulfilling the true meaning intelligent operation of high voltage circuit breaker.
文中首先介绍了断路器操动机构的发展历史和传统操动机构的特点,引出了新型电动机操动机构,并探讨了高压断路器与机构的配合问题,根据所选的灭弧室要求给出了高压断路器触头预定速度曲线。然后建立了直线伺服电机操动机构仿真控制系统,建立了单神经元PID控制算法的数学模型。对高压断路器触头运动特性控制过程进行了仿真,实现触头速度的跟踪控制,使其按理想运动特性曲线运动,实现最优操作。仿真结果证明了在配直线伺服电机操动机构的高压断路器触头运动控制系统中,单神经元PID控制是一种较理想、有效的控制方法。最后,试制了40.5kV户内真空断路器直线伺服电机操动机构控制系统样机,采用DSP作为控制器核心,分别对电容器组充、放电控制、电容电压检测、触头运动速度检测等部分的进行了设计。完成了控制器的硬件电路设计、相关应用程序和算法程序的编写与调试。实现了设计的主要功能,并通过了功能性试验验证。
实验结果表明,所研制的控制器设计合理,不但实现了操动机构控制系统所具备的一般功能,并在断路器操作过程中,对触头运动过程进行了控制,使其满足给定的特性要求,为实现开关真正意义上的智能化操作打下一定的基础。
As one of the important parts of a circuit breaker, the operating mechanism is required to guarantee long-term operational reliability of the circuit breaker as well as to be beneficial to arc extinction. Operating arm of linear motor operating mechanism to be droved by linear motor to realize the opening and closing operation, by which the quicker response ability and the better performance can be gained. The research of this thesis concentrates on control scheme of linear motor operating mechanism. A feasible control strategy is proposed to realize matching between circuit breaker counterforce characteristic and actuator output force characteristic, and the intelligent opening and closing of high voltage circuit breaker is carried out with the method.
At first, the development and characteristics of circuit breakers' operating mechanism in the past days is briefed and followed by an introduction to the new type of operating mechanism with basic structure and special requirement being elucidated. Matching between circuit breaker counterforce characteristic and actuator output force characteristic is discussed, and ideal movement contact curve calculated according to the characteristic of vacuum interrupters is given. Subsequently the control simulation model of linear servo motor mechanism is established. Mathematical model of single neuron intelligent PID is analyzed and adopted in the control system. Simulation has been carried out, the control and regulation on the moving contact movement during the opening and closing of the high voltage circuit breaker are realized which make the movement curve same as the ideal one. At last, linear-servo motor operating mechanism control system prototype for 40.5kV vacuum circuit breaker is manufactured. Control scheme is based on DSP, circuit of capacitance voltage charging, measuring, inverter and contact speed detecting are designed. The paper is completed in hardware circuit, emulation, the correlative programmer and arithmetic and debug. In the end, the function of motor operating mechanism control system was proved effective by experiment. The double closed-loop control scheme of speed and current of the moving contact is achieved during the opening and closing of the high voltage circuit breaker.
The motor operating mechanism controller realizes the main function in design. The research and experiment result proves that: the design structure of motor operating mechanism control system is reasonable. And it not only realizes commonly function of traditional operating mechanism, but also make moving contact movement characteristic be controlled which make the movement curve same as the ideal one. So, it can build better foundation for fulfilling the true meaning intelligent operation of high voltage circuit breaker.
引文
[1]林莘.现代高压电器技术.北京:机械工业出版社,2002.
[2]徐国政,张节容,钱家骊等.高压断路器原理和应用.北京:清华大学出版社,2000.
[3]袁大陆.全国电力系统高压开关设备十年运行状态评述.高压开关行业通讯,1999,(2):1-4.
[4]谭东现,崔寒,李岩等.双稳态永磁操动机构在40.5kV户内真空断路器上的应用.高压电器,2005,41(2):110-112.
[5]李建基.国际大电网会议与高压开关设备技术.上海电器技术,2001,(2):60-64.
[6]刘亚芳.高压断路器事故调查.国际电力,1997,(3):12-15.
[7]C.R Heising,A L Janssen,W Lanz,et al.Summary of CIGRE 13.06 Working Group World Wide Reliability Data and Maintenance Cost Data on High Voltage Circuit Breakers Above 63 kV[A].Industry Applications Society Annual Meeting,pairs,1994,(2):757-761.
[8]Tsutada H,Hirai T,Kohyarna H,et al.Development of synchronous switching controller for gas circuit breakers.IEEE/PES Transmission and Distribution Conference and Exhibition,Asia Pacific,2002,(2):807-812.
[9]钱家骊,袁大陆,徐国政.对1000kV电网操作过电压及相位控制高压断路器的讨论.电网技术,2005,29(10):1-4.
[10]丁富华,邹积岩,方春恩等.相控真空断路器投切空载变压器的应用研究.中国电机工程学报,2005,25(3):89-93.
[11]孙弋,马志瀛,金立军.应用电磁开关阀实现断路器智能操作分闸速度调节.电网技术,2000,24(7):17-20.
[12]马志瀛,陈晓宁,徐黎明.超高压SF6断路器的智能操作.中国电机工程学报,1999,19(7):11-13.
[13]陈晓宁,马志瀛,苏方春.超高压智能操作断路器智能控制单元的研究.电网技术,2000,24(5):45-47.
[14]Wu Xiaofeng,Zhang Hao.Development of digital signal processor based measuring and controlling unit for intelligent breaker.Power SystemTechnology,2003,27(7):70-74.
[15]林莘.永磁机构与真空断路器.北京:机械工业出版社,2002.
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[19]Bosma A,Cameroni R.Introducing a new generation of operating mechanism for high voltage AC circuit breaker.Journal of Electronic Engineering,2002,21(3):233-240.
[20]Bosma A,Thureson P O.A new reliable operating mechanism for HVAC circuit breakers.Transmission and Distribution Conference and Exposition,pairs,2001:573-577.
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[24]魏本纪.双稳态永磁操动机构与真空断路器的特性配合问题探讨.高压电器,2002,38(1):27-30.
[25]曹荣江,顾霓鸿.高压交流断路器的运行条件.北京:北京工业大学出版社,1999.
[26]聂崇志.真空开关技术发展的方向.高压开关,2004,21(4):53-54.
[27]黄瑜珑,王静君,徐国政等.配永磁机构真空断路器运动特性控制技术的研究.高压电器,2005,41(5):321-323.
[28]马少华,徐建源,王季梅.永磁操动机构特性分析和配用于高压真空断路器的可能性.高压电器,2000,(4):19-23.
[29]A.Bosma,R.Cameroni and coll.Motor Drive with Electronic Control for HVAC Circuit Breakers.CIGRE 2002 Reprot:13-203.
[30]王淑红,王旭平,熊光煜.动圈式永磁直线振动电机的静动态分析.微特电机,2006,(1):11-12.
[31]陶永华.新型PID控制及其应用.北京:机械工业出版社,2002.
[32]Yabutea T,Yamada T.Neural networks controller characteristics with regard to adaptive control.IEEE Trans Sys Man and Cybern,1992,22(1):170-177.
[33]张忠蕾,李庆民,娄杰.电力电子控制电动机操动机构分闸运动特性的仿真分析.电网技术,2006,30(18):58-63.
[34]刘和平,严利平,张学锋等.TMS320LF240x DSP结构、原理及应用.北京:北京航空航天大学出版社,2002.
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[36]TMS320F/C24x DSP Controllers Reference Guide:CPU and Instruction Set,Literature Number:SPRU160C,June 1999.
[37]TMS320LF/LC240xA DSP Controllers Reference Guide:System and Peripherals,Literature Number:SPRU357B,Revised December 2001.
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[39]Clare Inc.Linear Opt couplers.Clare Application Note AN-107,2002:3-6.
[40]李树靖,林凌,李刚.LOC11X系列光耦合器的特性及应用.国外电子元器件,2003,(6):42-44.
[41]Clare Inc.LOC110 Linear Opt couplers,www.clare.com,2003.
[42]张浩.具有小电流接地故障选线功能的永磁机构控制的研制:(硕士学位论文).沈阳:沈阳工业大学,2007.
[43]王耀北,闫英敏,胡玉贵.DSP控制的IPM正弦逆变电源系统硬件电路设计.现代电子技术,2005,(24):103-105.
[44]肖礼飞,郑黎明.基于DSP及IPM的永磁同步电机直接转矩控制系统.微电机,2005,38(3):61-64.
[45]魏本记.对于高压真空断路器机械特性测试的探讨.高压电器,2004,40(3):223-226.
[46]徐建峰,黄瑜珑,徐国政.高压断路器行程特性监测方法的研究.高压电器,2001,37(1):10-13.
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[51]Chun Liang-tin.GA-based multiobjective PID control for a linear brushless DC motor.IEEE Transactions on Mechatronics,2003,8(1):56-65.
[2]徐国政,张节容,钱家骊等.高压断路器原理和应用.北京:清华大学出版社,2000.
[3]袁大陆.全国电力系统高压开关设备十年运行状态评述.高压开关行业通讯,1999,(2):1-4.
[4]谭东现,崔寒,李岩等.双稳态永磁操动机构在40.5kV户内真空断路器上的应用.高压电器,2005,41(2):110-112.
[5]李建基.国际大电网会议与高压开关设备技术.上海电器技术,2001,(2):60-64.
[6]刘亚芳.高压断路器事故调查.国际电力,1997,(3):12-15.
[7]C.R Heising,A L Janssen,W Lanz,et al.Summary of CIGRE 13.06 Working Group World Wide Reliability Data and Maintenance Cost Data on High Voltage Circuit Breakers Above 63 kV[A].Industry Applications Society Annual Meeting,pairs,1994,(2):757-761.
[8]Tsutada H,Hirai T,Kohyarna H,et al.Development of synchronous switching controller for gas circuit breakers.IEEE/PES Transmission and Distribution Conference and Exhibition,Asia Pacific,2002,(2):807-812.
[9]钱家骊,袁大陆,徐国政.对1000kV电网操作过电压及相位控制高压断路器的讨论.电网技术,2005,29(10):1-4.
[10]丁富华,邹积岩,方春恩等.相控真空断路器投切空载变压器的应用研究.中国电机工程学报,2005,25(3):89-93.
[11]孙弋,马志瀛,金立军.应用电磁开关阀实现断路器智能操作分闸速度调节.电网技术,2000,24(7):17-20.
[12]马志瀛,陈晓宁,徐黎明.超高压SF6断路器的智能操作.中国电机工程学报,1999,19(7):11-13.
[13]陈晓宁,马志瀛,苏方春.超高压智能操作断路器智能控制单元的研究.电网技术,2000,24(5):45-47.
[14]Wu Xiaofeng,Zhang Hao.Development of digital signal processor based measuring and controlling unit for intelligent breaker.Power SystemTechnology,2003,27(7):70-74.
[15]林莘.永磁机构与真空断路器.北京:机械工业出版社,2002.
[16]卢芸,林莘.配永磁操动机构真空断路器力学特性分析.东北电力技术,2001,(9):20-23.
[17]游一民,郑军,罗文科.永磁机构及其发展动态.高压电器,2001,37(1):44-51.
[18]J.P.Dupraz,coll.Electronic control of circuit breakers.CIGER 2000 Report:13-206.
[19]Bosma A,Cameroni R.Introducing a new generation of operating mechanism for high voltage AC circuit breaker.Journal of Electronic Engineering,2002,21(3):233-240.
[20]Bosma A,Thureson P O.A new reliable operating mechanism for HVAC circuit breakers.Transmission and Distribution Conference and Exposition,pairs,2001:573-577.
[21]李建基.新一代高压断路器的电机操动机构.上海电器技术,2004,(1):11-13.
[22]邹积岩,王瑛,董恩源.电子操动的概念与实践.高压电器,2000,(5):29-31.
[23]孙明灿,林莘,徐建源.基于DSP无功补偿电容器组同步投切装置的研究.沈阳工业大学学报.2005,27(4):397-400.
[24]魏本纪.双稳态永磁操动机构与真空断路器的特性配合问题探讨.高压电器,2002,38(1):27-30.
[25]曹荣江,顾霓鸿.高压交流断路器的运行条件.北京:北京工业大学出版社,1999.
[26]聂崇志.真空开关技术发展的方向.高压开关,2004,21(4):53-54.
[27]黄瑜珑,王静君,徐国政等.配永磁机构真空断路器运动特性控制技术的研究.高压电器,2005,41(5):321-323.
[28]马少华,徐建源,王季梅.永磁操动机构特性分析和配用于高压真空断路器的可能性.高压电器,2000,(4):19-23.
[29]A.Bosma,R.Cameroni and coll.Motor Drive with Electronic Control for HVAC Circuit Breakers.CIGRE 2002 Reprot:13-203.
[30]王淑红,王旭平,熊光煜.动圈式永磁直线振动电机的静动态分析.微特电机,2006,(1):11-12.
[31]陶永华.新型PID控制及其应用.北京:机械工业出版社,2002.
[32]Yabutea T,Yamada T.Neural networks controller characteristics with regard to adaptive control.IEEE Trans Sys Man and Cybern,1992,22(1):170-177.
[33]张忠蕾,李庆民,娄杰.电力电子控制电动机操动机构分闸运动特性的仿真分析.电网技术,2006,30(18):58-63.
[34]刘和平,严利平,张学锋等.TMS320LF240x DSP结构、原理及应用.北京:北京航空航天大学出版社,2002.
[35]Texas Instruments Incorporated,TMS320LF/LC24系列DSP指令和编程工具.北京:清华大学出版社,2005.
[36]TMS320F/C24x DSP Controllers Reference Guide:CPU and Instruction Set,Literature Number:SPRU160C,June 1999.
[37]TMS320LF/LC240xA DSP Controllers Reference Guide:System and Peripherals,Literature Number:SPRU357B,Revised December 2001.
[38]TMS320 DSPDESIGNER'S NOTEBOOK:Using the Capture Units for Low Speed Velocity Estimation on a TMS320C240.APPLICATION BRIEF:SPRA363,Texas Instruments July 1997.
[39]Clare Inc.Linear Opt couplers.Clare Application Note AN-107,2002:3-6.
[40]李树靖,林凌,李刚.LOC11X系列光耦合器的特性及应用.国外电子元器件,2003,(6):42-44.
[41]Clare Inc.LOC110 Linear Opt couplers,www.clare.com,2003.
[42]张浩.具有小电流接地故障选线功能的永磁机构控制的研制:(硕士学位论文).沈阳:沈阳工业大学,2007.
[43]王耀北,闫英敏,胡玉贵.DSP控制的IPM正弦逆变电源系统硬件电路设计.现代电子技术,2005,(24):103-105.
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