高压真空断路器电机操动机构及模糊控制研究
|
摘要
为满足智能电网建设对智能化设备的需求，提高高压断路器的操控性能及运行可靠性，应用现代智能控制技术的电机操动机构得到越来越多的关注。本论文研究以126kV高压真空断路器为控制对象的电机操动机构技术，并对断路器开断与关合的运动特性、电机结构的定转子设计及仿真、运动过程控制方法、驱动控制技术和实际工程应用等方面进行了深入研究。
在本文中，主要的研究工作如下：
（1）建立并求解126kV高压真空断路器电机驱动的动力学方程，给出了永磁驱动电机的设计参数选取的依据和方法。同时，分析和计算了电机机构直接驱动断路器分合闸操作的特征参数，深入研究了电机机构的结构设计参数对断路器分合闸操作的速度特性影响。为增加永磁电机机构的可控性，并减小永磁电机的体积，在分析表贴式、燕尾槽表贴埋入型、直线内嵌型和外V内嵌型等4种驱动电机转子的设计方案基础上，提出多槽双层表贴埋入式定子及转子永磁电机改进设计方案。
（2）研究建立了考虑IGBT和反并二极管特性的永磁电机操动机构动态数学模型。通过深入分析伺服电机操动机构各组成环节，给出伺服电机操动机构控制系统电流环、速度环、位置环等控制模型，并对真空灭弧室触头速度特性进行曲线跟踪仿真。仿真结果表明，应用常规PID控制方法的电机机构的触头速度曲线跟踪，系统响应时间慢，在前15ms内有较大偏差。
（3）针对真空断路器伺服电机机构的控制系统特点，结合常规PID响应速度快的优点，提出了一种永磁电机机构的模糊免疫PID速度随动跟踪智能控制方法，依据空间矢量PWM调节控制的机理，实现了电压幅值的连续调节。仿真结果表明：与传统PID控制相比，该智能控制方法，可以有效的减小系统的跟踪误差，具有较高的鲁棒性，并且能对断路器永磁电机操动机构动态性能进行精确的速度跟踪随动控制。
（4）针对所研究的控制对象非线性、大惯量、瞬时起动、大电流等特点，为方便实现复杂控制算法以及系统的实时性，研制了DSP28335+FPGA+单片机多CPU结构全数字化断路器伺服电机操动机构控制系统。并给出控制系统主要电路设计方法，研制出样机并进行了实验，实验结果表明，该控制系统参数在PWM为1kHz，占空比为80%时，126kV真空断路器机械参数为：合闸时间为40ms，分闸时间为30ms；平均合闸速度分别为2.42m/s，平均分闸速度分别为3.45m/s。验证了电机操动机构技术对高压真空断路器控制的有效性。
（5）以126kV高压真空断路器的机械特性为测试对象，建立了电机操动机构控制实验系统，并针对断路器不同的运行状态：分/合闸操作、自动重合闸、分阶段速度调控及速度跟踪等实验分别进行研究。实验结果与设计理论对比分析结果表明：所研究的永磁摆角力矩电机操动机构及控制系统满足设计要求，可以对高压真空断路器运行状态进行有效控制。
In order to satisfy the demands of the intelligent equipments on the smart gridconstruction, and to improve the control performance and operation reliability of the highvoltage circuit breaker, the motor operating mechanism with application of modernintelligent control technology is getting more attention. This topic sets the motor operatingmechanism of a126kV high voltage vacuum circuit breaker as the research object. Thisthesis has further studied the movement characteristics of circuit breaker opening andclosing operation, the design simulation of the driving motor stator, the method of theprocess control, the driving control technology, and the practical engineering applications.
In this thesis, the main research has been done as follows:
(1) The thesis establishes and solves the dynamic equation of126kV high voltagevacuum circuit breaker motor mechanism, provides the basis and method for theparameters selection of the circuit breaker permanent magnet motor, calculates thecharacteristic parameters of motor driving circuit breaker during the closing and openingoperation of the operating mechanism, and analyzes the influence of the design parameterson the circuit breaker device operating speed. In order to increase the controllability of thepermanent magnet motor and to reduce the volume and moment inertia of the permanentmagnet motor, the thesis bases on the design schemes of4types of drive motor rotor,including analysis surface mounting type, dovetail groove surface mounting type, linearembedded type and outside V embedded type. It proposes the multiple slots double layersurface mounting type and design improvement of stator&rotor of permanent magnetmotor.
(2) Dynamic mathematical modeling of permanent magnet motor institutions whichhave considered the characteristics of IGBT and reverse diode is studied. Through in-depthanalysis of servomotor mechanism of each link, the simulation model about servo motorcontrol system including current loop, speed loop, and position loop is proposed. And thesimulation of tracing the curve of the dynamic contact velocity characteristic is given. Theresults show that the system response time is long, and there is a big deviation in the startof the15ms when motor speed curve is traced with conventional PID control method.
(3) Aiming at the characteristics of vacuum circuit breaker mechanism permanentmagnet motor servo control system, and combining the advantage of fast response speed ofthe conventional PID, a fuzzy immune PID speed tracking intelligent control method forpermanent magnet motor institutions is proposed in the thesis. The control method is basedon the principle of space vector PWM control to achieve continuous adjustability ofvoltage space vector. The simulation results show that this intelligent control method caneffectively reduce the error of the system tracking compared with the traditional PIDcontrol. The method has high robustness, and can accurately trace and momentarily controlthe dynamic performance of the permanent magnet motor.
(4) Aiming at the controlled object’s nonlinearity, large inertia, instant-start, heavycurrent, circuit breaker servo motor system for achieving complex control algorithm,DSP28335+FPGA+MCU multi-cpu structure has been developed. In the thesis the maincircuit designing methods of control system is presented and the prototype is developedand tested. Experiment results have shown that when these system parameters set PWM as1KHz and duty cycle as80%, these parameters of126kV breaker become closing time of40ms, opening time of30ms, the average closing speed of2.42m/s, and the averageopening speed of3.45m/s, which therefore validate the system.
(5) The experiment chose mechanical properties of126kV high-voltage vacuumcircuit breaker as the test object, and established the motor drive control experiment system.Aiming at studying the different circuit breaker operation states, the experiments onclosing operation, opening operation, automatic reclosing, speed control in stages and ratetracking have been conducted respectively. Indeed, both the experimental results andcontrast analysis results of design theory show that the design requirements about the driveand control system of motor drive control system with the permanent magnet swingingangle torque can be met, and the operating status about high voltage vacuum circuitbreaker can be effectively controlled.
在本文中，主要的研究工作如下：
（1）建立并求解126kV高压真空断路器电机驱动的动力学方程，给出了永磁驱动电机的设计参数选取的依据和方法。同时，分析和计算了电机机构直接驱动断路器分合闸操作的特征参数，深入研究了电机机构的结构设计参数对断路器分合闸操作的速度特性影响。为增加永磁电机机构的可控性，并减小永磁电机的体积，在分析表贴式、燕尾槽表贴埋入型、直线内嵌型和外V内嵌型等4种驱动电机转子的设计方案基础上，提出多槽双层表贴埋入式定子及转子永磁电机改进设计方案。
（2）研究建立了考虑IGBT和反并二极管特性的永磁电机操动机构动态数学模型。通过深入分析伺服电机操动机构各组成环节，给出伺服电机操动机构控制系统电流环、速度环、位置环等控制模型，并对真空灭弧室触头速度特性进行曲线跟踪仿真。仿真结果表明，应用常规PID控制方法的电机机构的触头速度曲线跟踪，系统响应时间慢，在前15ms内有较大偏差。
（3）针对真空断路器伺服电机机构的控制系统特点，结合常规PID响应速度快的优点，提出了一种永磁电机机构的模糊免疫PID速度随动跟踪智能控制方法，依据空间矢量PWM调节控制的机理，实现了电压幅值的连续调节。仿真结果表明：与传统PID控制相比，该智能控制方法，可以有效的减小系统的跟踪误差，具有较高的鲁棒性，并且能对断路器永磁电机操动机构动态性能进行精确的速度跟踪随动控制。
（4）针对所研究的控制对象非线性、大惯量、瞬时起动、大电流等特点，为方便实现复杂控制算法以及系统的实时性，研制了DSP28335+FPGA+单片机多CPU结构全数字化断路器伺服电机操动机构控制系统。并给出控制系统主要电路设计方法，研制出样机并进行了实验，实验结果表明，该控制系统参数在PWM为1kHz，占空比为80%时，126kV真空断路器机械参数为：合闸时间为40ms，分闸时间为30ms；平均合闸速度分别为2.42m/s，平均分闸速度分别为3.45m/s。验证了电机操动机构技术对高压真空断路器控制的有效性。
（5）以126kV高压真空断路器的机械特性为测试对象，建立了电机操动机构控制实验系统，并针对断路器不同的运行状态：分/合闸操作、自动重合闸、分阶段速度调控及速度跟踪等实验分别进行研究。实验结果与设计理论对比分析结果表明：所研究的永磁摆角力矩电机操动机构及控制系统满足设计要求，可以对高压真空断路器运行状态进行有效控制。
In order to satisfy the demands of the intelligent equipments on the smart gridconstruction, and to improve the control performance and operation reliability of the highvoltage circuit breaker, the motor operating mechanism with application of modernintelligent control technology is getting more attention. This topic sets the motor operatingmechanism of a126kV high voltage vacuum circuit breaker as the research object. Thisthesis has further studied the movement characteristics of circuit breaker opening andclosing operation, the design simulation of the driving motor stator, the method of theprocess control, the driving control technology, and the practical engineering applications.
In this thesis, the main research has been done as follows:
(1) The thesis establishes and solves the dynamic equation of126kV high voltagevacuum circuit breaker motor mechanism, provides the basis and method for theparameters selection of the circuit breaker permanent magnet motor, calculates thecharacteristic parameters of motor driving circuit breaker during the closing and openingoperation of the operating mechanism, and analyzes the influence of the design parameterson the circuit breaker device operating speed. In order to increase the controllability of thepermanent magnet motor and to reduce the volume and moment inertia of the permanentmagnet motor, the thesis bases on the design schemes of4types of drive motor rotor,including analysis surface mounting type, dovetail groove surface mounting type, linearembedded type and outside V embedded type. It proposes the multiple slots double layersurface mounting type and design improvement of stator&rotor of permanent magnetmotor.
(2) Dynamic mathematical modeling of permanent magnet motor institutions whichhave considered the characteristics of IGBT and reverse diode is studied. Through in-depthanalysis of servomotor mechanism of each link, the simulation model about servo motorcontrol system including current loop, speed loop, and position loop is proposed. And thesimulation of tracing the curve of the dynamic contact velocity characteristic is given. Theresults show that the system response time is long, and there is a big deviation in the startof the15ms when motor speed curve is traced with conventional PID control method.
(3) Aiming at the characteristics of vacuum circuit breaker mechanism permanentmagnet motor servo control system, and combining the advantage of fast response speed ofthe conventional PID, a fuzzy immune PID speed tracking intelligent control method forpermanent magnet motor institutions is proposed in the thesis. The control method is basedon the principle of space vector PWM control to achieve continuous adjustability ofvoltage space vector. The simulation results show that this intelligent control method caneffectively reduce the error of the system tracking compared with the traditional PIDcontrol. The method has high robustness, and can accurately trace and momentarily controlthe dynamic performance of the permanent magnet motor.
(4) Aiming at the controlled object’s nonlinearity, large inertia, instant-start, heavycurrent, circuit breaker servo motor system for achieving complex control algorithm,DSP28335+FPGA+MCU multi-cpu structure has been developed. In the thesis the maincircuit designing methods of control system is presented and the prototype is developedand tested. Experiment results have shown that when these system parameters set PWM as1KHz and duty cycle as80%, these parameters of126kV breaker become closing time of40ms, opening time of30ms, the average closing speed of2.42m/s, and the averageopening speed of3.45m/s, which therefore validate the system.
(5) The experiment chose mechanical properties of126kV high-voltage vacuumcircuit breaker as the test object, and established the motor drive control experiment system.Aiming at studying the different circuit breaker operation states, the experiments onclosing operation, opening operation, automatic reclosing, speed control in stages and ratetracking have been conducted respectively. Indeed, both the experimental results andcontrast analysis results of design theory show that the design requirements about the driveand control system of motor drive control system with the permanent magnet swingingangle torque can be met, and the operating status about high voltage vacuum circuitbreaker can be effectively controlled.
引文
[1]林莘．现代高压电器技术[M]．北京：机械工业出版社，2011．
[2]吕锦柏，王毅．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．
[3]安韵竹，文习山．SF_6断路器预击穿引起并联电抗器合闸过电压的原因及防护措施[J]．高电压技术，2013，39(1)：75-80．
[4]李建基．高压断路器及其应用[M]．北京：中国电力出版社，2004．
[5]徐国政，张节容，钱家骊．高压断路器原理和应用[M]．北京：清华大学出版社，2000．
[6]芦宇峰，孟大伟，徐永明，等．SF_6高压断路器智能化操动机构的研究与优化[J]．电机与控制学报，2013，17(7)：94-98．
[7]林莘．永磁操动机构与真空断路器[M]．北京：机械工业出版社，2002．
[8] Slade P G, Voshall R E, Wayland P O, et al. The development of a vacuum interrupter retro fit forthe upgrading and life extension of121kV-145kV oil circuit breakers[J]. IEEE Transactions onPower Delivery,2012,6(3):1124-1131.
[9]林莘，王德顺，徐建源．高压断路器直线伺服电机操动机构及其控制技术[J]．中国电机工程学报，2008，28(27)：137-141．
[10] Okawa M, Yanabu S, Tamagawa T, et al. Development of vacuum interrupters with highinterrupting capacity[J]. IEEE Transactions on Power Delivery,2013,33(23):805-809.
[11] Saitoh H, Iehikawa H, Nishijima A, et al. Research and development on145kV/40kA one breakvacuum circuit breaker[C]. Proceedings of the IEEE Power Engineering Society Transmission andDistribution Conference, Yokahama, Japan,2012,7(2):1465-1468.
[12] Shioiri T, Niwa Y, Kamikawaji T, et al. Investigation of dielectric breakdown probabilitydistribution for double-break vacuum circuit breaker[C]. International Symposium on Dischargesand Electrical Insulation in Vacuum, Tours, France,2013,6(5):323-326.
[13] Homm M, Sakaki M, Kaneko, et al. History of vacuum circuit breaker and recent development inJapan[C]. Proceedings-XXIth International Symposium on Discharges and Electrical Insulation inVacuum, Yalt, Ukraine,2013,32(2):378-383.
[14]王季梅．国内外真空断路器高电压等级开发动态[J]．华通技术，2013，(4)：13-14．
[15] Liu Y，Huang G.M，Ma Z Y. A novel intelligent high voltage circuit breaker[C]. Power andEnergy Society General Meeting,2010:1-6．
[16] Liu Zh Y, Wang J M, Xiu Sh X, et al. Development of high-voltage vacuum circuit breakers inchina[J]. IEEE Transactions on Plasma Science,2013,35(4):856-865.
[17]黄瑜珑，王静君，徐国政．配永磁操动机构真空断路器运动特性控制技术的研究[J]．高压电器，2013，41(5)：321-323．
[18]马少华．126kV高压真空断路器永磁操动机构及其同步控制技术的研究[D]．沈阳：沈阳工业大学，2008．
[19]徐可新．高压断路器弹簧操动机构的优化与仿真[D]．大连：大连理工大学，2012．
[20]邱进，陈轩恕，等．多断口光控真空断路器的同步控制系统的设计与实现[J]．电力自动化设备，2012，32(11)：150-154．
[21]张庆杰，袁海文．配永磁操动机构的真空断路器同步分合闸控制系统设计与实现[J]．电力自动化设备，2010，30(3)：99-103．
[22]刘向东．24kV永磁操动机构真空断路器关键技术研究[D]．沈阳：沈阳工业大学，2010．
[23]林莘，宋立峰，等．真空断路器新型电机操动机构的多体动力学仿真[J]．电网技术，2012，36(3)：76-80．
[24]吕锦柏，王毅．优化的永磁真空断路器合闸控制方法[J]．高电压技术，2013，39(11)：2836-2844．
[25]季良，陈德桂，刘颖异．利用电弧动态数学模型的低压断路器开断过程仿真分析[J]．中国电机工程学报，2012，29(21)：107-113．
[26]王悟典，徐海波．虚拟样机实验仿真技术及其在真空断路器操动机构中的应用[J]．高压电器，2012，26(6)：1-3．
[27]杨茜，张英，叶祖标．永磁操动机构真空断路器的机械特性受温度影响的研究[J]．高压电器，2013，49(7)：46-52．
[28]刘林平，周友明，方春恩．基于虚拟样机技术的永磁操动机构真空开关运动特性研究[J]．低压电器，2009，32(24)：16-19．
[29]刘韬，马志瀛，谭盛武．126kV真空断路器运动建模与优化设计[J]．高压电器，2013，19(24)：9-14．
[30]张红军，王文文，张强．断路器绝缘拉杆的动力学仿真分析与实验研究[J]．高压电器，2012，48(10)：83-87．
[31]宋立峰．126kV真空断路器动态仿真与设计[D]．沈阳：沈阳工业大学，2012．
[32] Bosma A, Cameroni R. Introducing a new generation of operating mechanism for high voltage accircuit breaker[J]. Journal of Electrical&Electronic Engineering,2012,21(3):233-240.
[33] Bosma A, Thureson P O.Anew reliable operating mechanism for HVAC circuit breakers[C].Transmission and Distribution Conference and Exposition, Atlanta, USA,2011,24(5):573-577.
[34]于庆广，肖宜，赵彪．10kV永磁断路器驱动电路设计及其脉宽调制仿真[J]．电网技术，2010，34(7)：36-40．
[35]范承志，胡赣娟，叶云岳．圆桶形直线电机在真空开关驱动中的应用研究[J]．微电机，2003，5(36)：17-18．
[36]刘爱民，林莘．高压断路器操动机构用圆筒型直线感应电机的优化设计[J]．电机与控制学报，2009，13(4)：528-532．
[37]李永祥，林莘，乔春雨．真空断路器电机操动机构合闸操作的实验研究[C]．中国电工技术学会电器智能化系统及应用专业委员会2009年学术年会．南宁，2009：45-49．
[38]陶永华．新型PID控制及其应用[M]．北京：机械工业出版社，2002．
[39] Lin X, Li Y X, Zhang Y G, et al. Research on permanent magnet motor operating mechanism ofhigh voltage circuit breaker[C]. ICEF2012:3648-3654.
[40] APasdar, Amir M. Smart high voltage circuit breaker in overhead power lines for smart gridapplications[C]. Energy Conversion Congress and Exposition (ECCE),2013:1118-1123.
[41]张永刚．126kV真空断路器电机操动机构仿真与设计[D]．沈阳：沈阳工业大学，2013．
[42]马跃乾．高压断路器新型电机操动机构的研究[D]．沈阳：沈阳工业大学，2008．
[43]杨涛，黄瑜珑，李大卫，等．高压断路器电机操动机构技术的研究[J]．清华大学学报(自然科学版)，2010，50(4)：521-524．
[44]刘经宇．真空断路器永磁直线电机操动机构的研究[D]．沈阳：沈阳工业大学，2011．
[45]邵盛楠，黄瑜珑，王静君．高压断路器电动机驱动操动机构的研究[J]．高电压技术，2008，34(3)：555-559．
[46]杨川．高压断路器永磁直线电机操动机构的研究[D]．沈阳：沈阳工业大学，2011．
[47] Duncan J. Linear induction motor-equivalent-circuit model[J]. IEE Proc,2000,130(1):51-57.
[48] Wu X F, Zhang H. Development of digital signal processor based measuring and controlling unitfor intelligent breaker[J]. Power SystemTechnology,2003,27(7):70-74.
[49]金光耀，王亮．高压断路器电机操动机构控制技术研究[J]．电工文摘，2013．
[50]刘爱民，林莘．断路器操动机构用圆筒型直线感应电动机运动控制系统仿真[J]．中国电机工程学报，2009，29(27)：112-118．
[51]张红军，王文文，张强．断路器绝缘拉杆的动力学仿真分析与试验研究[J]．高压电器，2012，48(10)：83-87．
[52]刘宝忠，王永清.智能断路器的现状与发展[J]．中国电力教育，2010，(10)：258-289．
[53]苏菊芳，邓洪祥，张强，等．浅析弹簧操动机构中合闸保持分闸脱扣操作系统[J]．高压电器，2012，48(9)：88-91．
[54] Lin X, Lin Y X, Wang X Y, et al. Research on linear servo motor actuator and its control techniqueof high-voltage circuit breaker[C]. ICEMS2008:1691-1695.
[55]林莘，德顺，徐建源．单神经元PID控制器在高压断路器运动控制技术中的应用[J]．电工技术学报，2009，6(24)：35-41．
[56] Shi F, Lin X, Xu J Y. Theoretical analysis of mechanical characteristics of vacuum circuit breakerwith spring operating mechanism[C]. Proceedings of Discharges and Electrical Insulation inVacuum,2004:438-441.
[57] Yu L, Geng Y S, Liu z, et al. Relationship between displacement characteristics of a126kVvacuum circuit breaker and spring type operating mechanism[C]. Discharges and ElectricalInsulation in Vacuum. International Symposium,2008:137-140.
[58]赵进尚．高压真空开关新型操动机构的动特性研究[D]．北京：华北电力大学，2003．
[59]陈刚，孙波等．真空断路器弹簧操动机构的稳健优化设计[J]．中国机械工程，2013，24(8)：1073-1079．
[60]孙一航，武建文，等．断路器智能综合控制装置关键技术的研究[J]．高压电器，2013，49(3)：1-7．
[61]唐任远．现代永磁电机理论与设计[M]．北京：机械工业出版社，2005．
[62]王秀和．永磁电机[M]．北京：中国电力出版社，2008．
[63]陈世坤．电机设计[M]．北京：机械工业出版社，2000．
[64]谭建成．永磁驱动电机技术[M]．北京：机械工业出版社，2011．
[65]李钟明，刘卫国著．稀土永磁电机[M]．北京：国防工业出版社，2000．
[66] Fa Wang, Lan Song. A new permanent magnetic operating mechanism for bi-Stable vacuumcircuit breaker[C]. Power and Energy Engineering Conference (APPEEC),2011:1-4.
[67] Dupraz.J.P, Jung. T, Ficheux.A, et al. Remote supervision for intelligent circuit breakers and gasinsulated substations[C]. Power and Energy Society General Meeting Conversion and Delivery ofElectrical Energy in the21st Century,2008:1-8.
[68]林伟杰．永磁同步电机伺服系统控制策略的研究[D]．浙江：浙江工业大学，2005．
[69]刘金琨．先进PID控制及其MATLAB仿真[M]．北京：电子工业出版社，2002．
[70]罗勇强．智能断路器性能参数在线监测装置设计[D]．西安：西北工业大学，2013．
[71]王禹博．智能断路器操作机构性能分析与优化[D]．河北：河北工业大学，2012．
[72]文化宾，宋永端，邹积岩，等．新型126kV高压真空断路器的设计及开断能力试验研究[J]．中国电机工程学报，2011，31(34)：198-204．
[73] Wrobel R, Mellor P H. Design considerations of a direct drive brushless machine with concentratedwindings[J]. IEEE Trans．Energy Conversion,2008,23(1):1-8．
[74] Atallah K, Zhu Z Q. Armature reaction field and winding inductances of slot-less permanentmagnet brushless machines[J]. IEEE Trans on Magnetics,2000,34(5):3737-3744．
[75] Wang L L, Shen J X, Luk P C, et al. Development of a magnetic geared permanent-magnetbrushless motor[J]. IEEE Trans．Magn,2009,45(10):4578-4581．
[76]吴利刚．基于模糊逻辑的永磁同步电机控制算法硏究[D]．大连：大连海事大学，2012．
[77]张忠蕾，李庆民，等．电力电子控制电动机操动机构分闸运动特性的仿真分析[J]．电网技术，2006，30(18)：58-63．
[78]陈家斌．SF6断路器实用技术[M]．北京：中国水利水电出版社，2004．
[79] Mohammad S I, Sayeed M, Tomy S. Issues in reducing the cogging torque of mass-producedpermanent magnet brushless dc motor[J]. IEEE Trans．Industry Application,2004,40(3):424-432.
[80] Li Haomin, Lin Xin. Research on dynamic characteristics of permanent magnet brushless dcmotor operating mechanism in126kV vacuum circuit breaker[C].2nd International Conference onElectric Power Equipment Conference (ICEPE), Japan,2013:1176-1180．
[81] Dawei Li, Yulong Huang. Development of motor drive operating mechanism of high voltagecircuit breaker[C]. Power and Energy Engineering Conference (APPEEC),2010:1-4.
[82] Kumar P, Bauer P. Improved analytical model of a permanent magnet brushless dc motor[J]. IEEETrans. Magn,2008,44(10):2299-2309.
[83] Wang X H, Li Q F, Wang Sh H, et al. Analytical calculation of air-gap magnetic field distributionand instantaneous characteristics of brushless dc motors[J]. IEEE Trans. Energy Conversion,2003,18(3):424-432.
[84] Jabbar M A, Phyu H N, Liu Zh J, et al. Modeling and numerical simulation of a brushlesspermanent-magnet dc motor in dynamic conditions by time-stepping technique[J]. IEEETrans.Industry Application,2004,40(3):763-770.
[85] Kwang-W L, Kim D K, Kim B T, et al. A novel starting method of the surface permanent-magnetbldc motors without position sensor for reciprocating compressor[J]. IEEE Trans. IndustryApplications,2008,44(1):85-92.
[86]方雨菡．永磁真空断路器的智能控制[D]．成都：西南交通大学，2013．
[87]钟建英．智能高压开关设备技术研究进展[J]．高压电器，2013，49(7)：110-115．
[88]石飞，林莘，徐建源．可靠性技术与智能化高压断路器[J]．华通技术，2005，24(3)：15-18．
[89]王晓波，马凤宝，等．高压断路器操作智能化的研究现状[J]．自动化博览，2013，(7)：86-88．
[90]刘爱民，张红奎，赵前程，等．高压断路器无刷直流电机操动机构模糊控制系统仿真分析[J]．组合机床与自动化加工技术，2012，3(3)：65-68．
[91]史婷娜，张典林，夏长亮，等．基于遗传整定的永磁交流伺服系统模糊免疫PID控制器[J]．电工技术学报，2008，23(7)：45-49．
[92]王斌，李爱平．模糊免疫非线性PID控制的优化设计[J]．控制工程，2007，14(5)：81-84．
[93]李果勇．智能控制及其MATLAB实现[M]．北京：电子工业出版社，2005．
[2]吕锦柏，王毅．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．
[3]安韵竹，文习山．SF_6断路器预击穿引起并联电抗器合闸过电压的原因及防护措施[J]．高电压技术，2013，39(1)：75-80．
[4]李建基．高压断路器及其应用[M]．北京：中国电力出版社，2004．
[5]徐国政，张节容，钱家骊．高压断路器原理和应用[M]．北京：清华大学出版社，2000．
[6]芦宇峰，孟大伟，徐永明，等．SF_6高压断路器智能化操动机构的研究与优化[J]．电机与控制学报，2013，17(7)：94-98．
[7]林莘．永磁操动机构与真空断路器[M]．北京：机械工业出版社，2002．
[8] Slade P G, Voshall R E, Wayland P O, et al. The development of a vacuum interrupter retro fit forthe upgrading and life extension of121kV-145kV oil circuit breakers[J]. IEEE Transactions onPower Delivery,2012,6(3):1124-1131.
[9]林莘，王德顺，徐建源．高压断路器直线伺服电机操动机构及其控制技术[J]．中国电机工程学报，2008，28(27)：137-141．
[10] Okawa M, Yanabu S, Tamagawa T, et al. Development of vacuum interrupters with highinterrupting capacity[J]. IEEE Transactions on Power Delivery,2013,33(23):805-809.
[11] Saitoh H, Iehikawa H, Nishijima A, et al. Research and development on145kV/40kA one breakvacuum circuit breaker[C]. Proceedings of the IEEE Power Engineering Society Transmission andDistribution Conference, Yokahama, Japan,2012,7(2):1465-1468.
[12] Shioiri T, Niwa Y, Kamikawaji T, et al. Investigation of dielectric breakdown probabilitydistribution for double-break vacuum circuit breaker[C]. International Symposium on Dischargesand Electrical Insulation in Vacuum, Tours, France,2013,6(5):323-326.
[13] Homm M, Sakaki M, Kaneko, et al. History of vacuum circuit breaker and recent development inJapan[C]. Proceedings-XXIth International Symposium on Discharges and Electrical Insulation inVacuum, Yalt, Ukraine,2013,32(2):378-383.
[14]王季梅．国内外真空断路器高电压等级开发动态[J]．华通技术，2013，(4)：13-14．
[15] Liu Y，Huang G.M，Ma Z Y. A novel intelligent high voltage circuit breaker[C]. Power andEnergy Society General Meeting,2010:1-6．
[16] Liu Zh Y, Wang J M, Xiu Sh X, et al. Development of high-voltage vacuum circuit breakers inchina[J]. IEEE Transactions on Plasma Science,2013,35(4):856-865.
[17]黄瑜珑，王静君，徐国政．配永磁操动机构真空断路器运动特性控制技术的研究[J]．高压电器，2013，41(5)：321-323．
[18]马少华．126kV高压真空断路器永磁操动机构及其同步控制技术的研究[D]．沈阳：沈阳工业大学，2008．
[19]徐可新．高压断路器弹簧操动机构的优化与仿真[D]．大连：大连理工大学，2012．
[20]邱进，陈轩恕，等．多断口光控真空断路器的同步控制系统的设计与实现[J]．电力自动化设备，2012，32(11)：150-154．
[21]张庆杰，袁海文．配永磁操动机构的真空断路器同步分合闸控制系统设计与实现[J]．电力自动化设备，2010，30(3)：99-103．
[22]刘向东．24kV永磁操动机构真空断路器关键技术研究[D]．沈阳：沈阳工业大学，2010．
[23]林莘，宋立峰，等．真空断路器新型电机操动机构的多体动力学仿真[J]．电网技术，2012，36(3)：76-80．
[24]吕锦柏，王毅．优化的永磁真空断路器合闸控制方法[J]．高电压技术，2013，39(11)：2836-2844．
[25]季良，陈德桂，刘颖异．利用电弧动态数学模型的低压断路器开断过程仿真分析[J]．中国电机工程学报，2012，29(21)：107-113．
[26]王悟典，徐海波．虚拟样机实验仿真技术及其在真空断路器操动机构中的应用[J]．高压电器，2012，26(6)：1-3．
[27]杨茜，张英，叶祖标．永磁操动机构真空断路器的机械特性受温度影响的研究[J]．高压电器，2013，49(7)：46-52．
[28]刘林平，周友明，方春恩．基于虚拟样机技术的永磁操动机构真空开关运动特性研究[J]．低压电器，2009，32(24)：16-19．
[29]刘韬，马志瀛，谭盛武．126kV真空断路器运动建模与优化设计[J]．高压电器，2013，19(24)：9-14．
[30]张红军，王文文，张强．断路器绝缘拉杆的动力学仿真分析与实验研究[J]．高压电器，2012，48(10)：83-87．
[31]宋立峰．126kV真空断路器动态仿真与设计[D]．沈阳：沈阳工业大学，2012．
[32] Bosma A, Cameroni R. Introducing a new generation of operating mechanism for high voltage accircuit breaker[J]. Journal of Electrical&Electronic Engineering,2012,21(3):233-240.
[33] Bosma A, Thureson P O.Anew reliable operating mechanism for HVAC circuit breakers[C].Transmission and Distribution Conference and Exposition, Atlanta, USA,2011,24(5):573-577.
[34]于庆广，肖宜，赵彪．10kV永磁断路器驱动电路设计及其脉宽调制仿真[J]．电网技术，2010，34(7)：36-40．
[35]范承志，胡赣娟，叶云岳．圆桶形直线电机在真空开关驱动中的应用研究[J]．微电机，2003，5(36)：17-18．
[36]刘爱民，林莘．高压断路器操动机构用圆筒型直线感应电机的优化设计[J]．电机与控制学报，2009，13(4)：528-532．
[37]李永祥，林莘，乔春雨．真空断路器电机操动机构合闸操作的实验研究[C]．中国电工技术学会电器智能化系统及应用专业委员会2009年学术年会．南宁，2009：45-49．
[38]陶永华．新型PID控制及其应用[M]．北京：机械工业出版社，2002．
[39] Lin X, Li Y X, Zhang Y G, et al. Research on permanent magnet motor operating mechanism ofhigh voltage circuit breaker[C]. ICEF2012:3648-3654.
[40] APasdar, Amir M. Smart high voltage circuit breaker in overhead power lines for smart gridapplications[C]. Energy Conversion Congress and Exposition (ECCE),2013:1118-1123.
[41]张永刚．126kV真空断路器电机操动机构仿真与设计[D]．沈阳：沈阳工业大学，2013．
[42]马跃乾．高压断路器新型电机操动机构的研究[D]．沈阳：沈阳工业大学，2008．
[43]杨涛，黄瑜珑，李大卫，等．高压断路器电机操动机构技术的研究[J]．清华大学学报(自然科学版)，2010，50(4)：521-524．
[44]刘经宇．真空断路器永磁直线电机操动机构的研究[D]．沈阳：沈阳工业大学，2011．
[45]邵盛楠，黄瑜珑，王静君．高压断路器电动机驱动操动机构的研究[J]．高电压技术，2008，34(3)：555-559．
[46]杨川．高压断路器永磁直线电机操动机构的研究[D]．沈阳：沈阳工业大学，2011．
[47] Duncan J. Linear induction motor-equivalent-circuit model[J]. IEE Proc,2000,130(1):51-57.
[48] Wu X F, Zhang H. Development of digital signal processor based measuring and controlling unitfor intelligent breaker[J]. Power SystemTechnology,2003,27(7):70-74.
[49]金光耀，王亮．高压断路器电机操动机构控制技术研究[J]．电工文摘，2013．
[50]刘爱民，林莘．断路器操动机构用圆筒型直线感应电动机运动控制系统仿真[J]．中国电机工程学报，2009，29(27)：112-118．
[51]张红军，王文文，张强．断路器绝缘拉杆的动力学仿真分析与试验研究[J]．高压电器，2012，48(10)：83-87．
[52]刘宝忠，王永清.智能断路器的现状与发展[J]．中国电力教育，2010，(10)：258-289．
[53]苏菊芳，邓洪祥，张强，等．浅析弹簧操动机构中合闸保持分闸脱扣操作系统[J]．高压电器，2012，48(9)：88-91．
[54] Lin X, Lin Y X, Wang X Y, et al. Research on linear servo motor actuator and its control techniqueof high-voltage circuit breaker[C]. ICEMS2008:1691-1695.
[55]林莘，德顺，徐建源．单神经元PID控制器在高压断路器运动控制技术中的应用[J]．电工技术学报，2009，6(24)：35-41．
[56] Shi F, Lin X, Xu J Y. Theoretical analysis of mechanical characteristics of vacuum circuit breakerwith spring operating mechanism[C]. Proceedings of Discharges and Electrical Insulation inVacuum,2004:438-441.
[57] Yu L, Geng Y S, Liu z, et al. Relationship between displacement characteristics of a126kVvacuum circuit breaker and spring type operating mechanism[C]. Discharges and ElectricalInsulation in Vacuum. International Symposium,2008:137-140.
[58]赵进尚．高压真空开关新型操动机构的动特性研究[D]．北京：华北电力大学，2003．
[59]陈刚，孙波等．真空断路器弹簧操动机构的稳健优化设计[J]．中国机械工程，2013，24(8)：1073-1079．
[60]孙一航，武建文，等．断路器智能综合控制装置关键技术的研究[J]．高压电器，2013，49(3)：1-7．
[61]唐任远．现代永磁电机理论与设计[M]．北京：机械工业出版社，2005．
[62]王秀和．永磁电机[M]．北京：中国电力出版社，2008．
[63]陈世坤．电机设计[M]．北京：机械工业出版社，2000．
[64]谭建成．永磁驱动电机技术[M]．北京：机械工业出版社，2011．
[65]李钟明，刘卫国著．稀土永磁电机[M]．北京：国防工业出版社，2000．
[66] Fa Wang, Lan Song. A new permanent magnetic operating mechanism for bi-Stable vacuumcircuit breaker[C]. Power and Energy Engineering Conference (APPEEC),2011:1-4.
[67] Dupraz.J.P, Jung. T, Ficheux.A, et al. Remote supervision for intelligent circuit breakers and gasinsulated substations[C]. Power and Energy Society General Meeting Conversion and Delivery ofElectrical Energy in the21st Century,2008:1-8.
[68]林伟杰．永磁同步电机伺服系统控制策略的研究[D]．浙江：浙江工业大学，2005．
[69]刘金琨．先进PID控制及其MATLAB仿真[M]．北京：电子工业出版社，2002．
[70]罗勇强．智能断路器性能参数在线监测装置设计[D]．西安：西北工业大学，2013．
[71]王禹博．智能断路器操作机构性能分析与优化[D]．河北：河北工业大学，2012．
[72]文化宾，宋永端，邹积岩，等．新型126kV高压真空断路器的设计及开断能力试验研究[J]．中国电机工程学报，2011，31(34)：198-204．
[73] Wrobel R, Mellor P H. Design considerations of a direct drive brushless machine with concentratedwindings[J]. IEEE Trans．Energy Conversion,2008,23(1):1-8．
[74] Atallah K, Zhu Z Q. Armature reaction field and winding inductances of slot-less permanentmagnet brushless machines[J]. IEEE Trans on Magnetics,2000,34(5):3737-3744．
[75] Wang L L, Shen J X, Luk P C, et al. Development of a magnetic geared permanent-magnetbrushless motor[J]. IEEE Trans．Magn,2009,45(10):4578-4581．
[76]吴利刚．基于模糊逻辑的永磁同步电机控制算法硏究[D]．大连：大连海事大学，2012．
[77]张忠蕾，李庆民，等．电力电子控制电动机操动机构分闸运动特性的仿真分析[J]．电网技术，2006，30(18)：58-63．
[78]陈家斌．SF6断路器实用技术[M]．北京：中国水利水电出版社，2004．
[79] Mohammad S I, Sayeed M, Tomy S. Issues in reducing the cogging torque of mass-producedpermanent magnet brushless dc motor[J]. IEEE Trans．Industry Application,2004,40(3):424-432.
[80] Li Haomin, Lin Xin. Research on dynamic characteristics of permanent magnet brushless dcmotor operating mechanism in126kV vacuum circuit breaker[C].2nd International Conference onElectric Power Equipment Conference (ICEPE), Japan,2013:1176-1180．
[81] Dawei Li, Yulong Huang. Development of motor drive operating mechanism of high voltagecircuit breaker[C]. Power and Energy Engineering Conference (APPEEC),2010:1-4.
[82] Kumar P, Bauer P. Improved analytical model of a permanent magnet brushless dc motor[J]. IEEETrans. Magn,2008,44(10):2299-2309.
[83] Wang X H, Li Q F, Wang Sh H, et al. Analytical calculation of air-gap magnetic field distributionand instantaneous characteristics of brushless dc motors[J]. IEEE Trans. Energy Conversion,2003,18(3):424-432.
[84] Jabbar M A, Phyu H N, Liu Zh J, et al. Modeling and numerical simulation of a brushlesspermanent-magnet dc motor in dynamic conditions by time-stepping technique[J]. IEEETrans.Industry Application,2004,40(3):763-770.
[85] Kwang-W L, Kim D K, Kim B T, et al. A novel starting method of the surface permanent-magnetbldc motors without position sensor for reciprocating compressor[J]. IEEE Trans. IndustryApplications,2008,44(1):85-92.
[86]方雨菡．永磁真空断路器的智能控制[D]．成都：西南交通大学，2013．
[87]钟建英．智能高压开关设备技术研究进展[J]．高压电器，2013，49(7)：110-115．
[88]石飞，林莘，徐建源．可靠性技术与智能化高压断路器[J]．华通技术，2005，24(3)：15-18．
[89]王晓波，马凤宝，等．高压断路器操作智能化的研究现状[J]．自动化博览，2013，(7)：86-88．
[90]刘爱民，张红奎，赵前程，等．高压断路器无刷直流电机操动机构模糊控制系统仿真分析[J]．组合机床与自动化加工技术，2012，3(3)：65-68．
[91]史婷娜，张典林，夏长亮，等．基于遗传整定的永磁交流伺服系统模糊免疫PID控制器[J]．电工技术学报，2008，23(7)：45-49．
[92]王斌，李爱平．模糊免疫非线性PID控制的优化设计[J]．控制工程，2007，14(5)：81-84．
[93]李果勇．智能控制及其MATLAB实现[M]．北京：电子工业出版社，2005．