真空断路器电机操动机构控制策略的研究

发布时间：2018-05-02 21:24

本文选题：高压断路器 + 无刷直流电机　；参考：《沈阳工业大学》2017年硕士论文

【摘要】：高压断路器作为电力系统中重要的开关设备,对电力系统的安全运行具有重要意义,近年来,我国智能电网得到了迅速的发展,电力系统对高压开关设备的智能化提出了迫切要求。为了提高驱动电机换相的准确性,提出了以绕组电流为换相依据的换相方法,根据永磁无刷直流电机等效数学模型,结合绕组电流值和梯形求积法计算出转子位置,实现以绕组电流为依据的换相操作,为了提高电机操动机构智能化操作水平,以断路器驱动电机为控制研究对象,结合模糊算法和神经网络算法控制理论,建立模糊神经网络PID算法实现驱动电机的速度控制。本文从驱动电机数学模型、控制系统研发、断路器操作实验等方面进行研究,主要开展如下研究工作:(1)研究真空断路器电机操动机构分合闸运动特性,结合驱动电机电磁、机械耦合场关系,建立无刷直流电机数学模型,计算电机输出电磁转矩与绕组电压的关系,结合电机动力学方程,得到电机绕组电压与动触头速度的关系,实现调节驱动电机输入电压来控制触头速度的目的。(2)分析模糊控制和神经网络控制理论,结合电机传统PID速度控制方法,提出一种应用于断路器驱动电机上的模糊神经网络PID控制算法,以输入误差二次方为性能指标、梯度下降法为自学习方法、利用模糊控制器先验知识提高神经网络自学习能力。搭建电机控制系统仿真模型,运用计算机语言编写控制算法S函数模块,进行传统PID和模糊神经网络PID速度仿真实验,并进行实验数据对比分析,验证模糊神经网络PID算法的有效性。(3)提出一种以电机绕组电流值为换相依据的换相方式,根据永磁无刷直流电机等效数学模型,结合绕组电流值和梯形求积法计算出转子位置,实现以绕组电流为依据的换相操作。开展断路器电机操动机构联机实验,采用该方法可实现驱动电机换相操作,得到的电机换向位置与霍尔盘换相位置之间的角度误差小于1°。(4)针对控制对象非线性、大惯量、瞬时起动、大电流等特点,研制了以数字信号处理器DSP为控制核心的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和设计理论,搭建实验平台进行断路器驱动电机速度控制实验,采用模糊神经网络PID算法使速度跟踪最大误差不超过0.4m/s。
[Abstract]:As an important switchgear in power system, high voltage circuit breaker is of great significance to the safe operation of power system. In recent years, the smart grid of our country has been developed rapidly. The power system has put forward the urgent request for the intelligence of high voltage switchgear. In order to improve the accuracy of commutation of drive motor, a commutation method based on winding current is proposed. According to the equivalent mathematical model of permanent magnet brushless DC motor, the rotor position is calculated by combining winding current value and trapezoidal quadrature method. The commutation operation based on winding current is realized. In order to improve the intelligent operation level of motor operating mechanism, the circuit breaker driven motor is taken as the control object, combined with fuzzy algorithm and neural network algorithm control theory. A fuzzy neural network (PID) algorithm is established to realize the speed control of the drive motor. In this paper, the mathematical model of the drive motor, the research and development of the control system, the operation experiment of the circuit breaker and so on are studied. The main research work is as follows: 1) the characteristics of the operating mechanism of the vacuum circuit breaker are studied, combined with the electromagnetic characteristics of the driving motor. The mathematical model of brushless DC motor is established, the relationship between the output electromagnetic torque and winding voltage is calculated, and the relationship between motor winding voltage and dynamic contact velocity is obtained by combining the dynamic equation of motor. The purpose of adjusting the input voltage of the drive motor to control the contact speed is to analyze the fuzzy control and neural network control theory, combined with the traditional PID speed control method of the motor. A fuzzy neural network (PID) control algorithm applied to circuit breaker driven motor is proposed. Taking the quadratic input error as the performance index and the gradient descent method as the self-learning method, the priori knowledge of the fuzzy controller is used to improve the self-learning ability of the neural network. The simulation model of motor control system is built, and the S function module of control algorithm is compiled by computer language. The speed simulation experiments of traditional PID and fuzzy neural network PID are carried out, and the experimental data are compared and analyzed. To verify the validity of the fuzzy neural network PID algorithm, a commutative method based on the current value of the motor winding is proposed. According to the equivalent mathematical model of the permanent magnet brushless DC motor, the rotor position is calculated by combining the winding current value and the trapezoidal quadrature method. The commutation operation based on winding current is realized. The circuit breaker motor actuator on-line experiment is carried out. The commutation operation of the drive motor can be realized by using this method. The angle error between the commutating position of the motor and the commutating position of the Hall disk is less than 1 掳. 4) the control object is nonlinear and has a large inertia. Based on the characteristics of instantaneous starting and high current, the control system of motor actuator based on digital signal processor (DSP) is developed, and the main circuit design method and design theory of the control system are given. The experiment platform is set up to control the speed of the circuit breaker driven motor. The maximum error of speed tracking is not more than 0.4 m / s by using the fuzzy neural network PID algorithm.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM561.2

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