高压真空断路器电机操动机构及模糊控制研究

发布时间：2019-03-02 14:49

【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。
[Abstract]:In order to meet the demands of the intelligent power grid construction for the intelligent equipment, the control performance and the operation reliability of the high-voltage circuit breaker are improved, and more and more attention has been paid to the motor operating mechanism of the modern intelligent control technology. In this paper, a 126kV high-voltage vacuum circuit breaker is used to control the motor operating mechanism of the object, and the moving characteristics of the breaking and closing of the circuit breaker, the design and simulation of the stator rotor of the motor structure and the control method of the motion process are studied. The driving control technology and the practical engineering application have been deeply studied. In this paper, the main research work is as follows: (1) The dynamic equation of the motor drive of 126kV high-voltage vacuum circuit breaker is set up and solved, and the basis of the selection of the design parameters of the permanent-magnet drive motor is given. And the speed of the switching-on operation of the circuit breaker by the structural design parameters of the motor mechanism is further studied. In order to increase the controllability of the permanent magnet motor mechanism and to reduce the volume of the permanent magnet motor, the design scheme of four driving motor rotors such as the surface mount type, the dovetail groove surface mount type, the linear embedded type and the external V insert type are analyzed. On the basis of the improvement of the multi-slot double-layer surface-mounted embedded stator and rotor permanent-magnet motor (2) The operation mechanism of the permanent-magnet motor, which takes into account the characteristics of the IGBT and the anti-and-diode, is established. In this paper, the control model of the control system current loop, speed ring and position ring of the servo motor operating mechanism is given through in-depth analysis of the components of the servo motor operating mechanism, and the speed characteristic of the contact speed of the vacuum arc-extinguishing chamber The simulation results show that the contact velocity curve of the motor mechanism of the conventional PID control method is tracked, the response time of the system is slow, and in the first 15 ms, According to the characteristics of the control system of the servo motor mechanism of the vacuum circuit breaker, the fuzzy immune PID speed follow-up tracking intelligent control method of the permanent magnet motor mechanism is put forward according to the characteristic of the control system of the servo motor mechanism of the vacuum circuit breaker, and according to the space vector PWM, the fuzzy immune PID speed follow-up tracking intelligent control method the mechanism of the control is adjusted, the voltage is realized, The simulation results show that, compared with the traditional PID control, the intelligent control method can effectively reduce the tracking error of the system, has higher robustness, and can accurately speed the dynamic performance of the permanent magnet motor operating mechanism of the circuit breaker In order to realize the complex control algorithm and the real-time performance of the system, the DSP 28335 + FPGA + single-chip microcomputer multi-CPU structure full-digital circuit breaker servo electric machine is developed for the purpose of realizing the complex control algorithm and the real-time performance of the system. The control system of the machine operating mechanism is given. The main circuit design method of the control system is given. The prototype is developed and the experiment is carried out. The experimental results show that when the PWM is 1 kHz and the duty cycle is 80%, the mechanical parameters of the 126kV vacuum circuit breaker are as follows: the closing time is 40 ms, The switching-off time is 30 ms; the average closing speed is 2.42 m/ s, and the average switching speed is divided The high-pressure vacuum is verified by the motor operating mechanism technology for 3.45 m/ s. The effectiveness of the control of the circuit breaker is as follows: (5) The mechanical characteristic of the 126kV high-voltage vacuum circuit breaker is the test object, the control experiment system of the motor operating mechanism is established, and the operation state of the circuit breaker is different: the switch-on operation, the automatic reclosing, the stage speed regulation and the speed The experimental results and the design theory are compared and analyzed. The results of the comparison between the experimental results and the design theory show that the permanent magnet swing angle motor operating mechanism and the control system can meet the design requirements and can open the high-voltage vacuum circuit
【学位授予单位】：沈阳工业大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM561.2

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