CN103560039A - High-voltage breaker permanent magnet salient pole motor operation mechanism and control method - Google Patents
High-voltage breaker permanent magnet salient pole motor operation mechanism and control method Download PDFInfo
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Abstract
The invention provides a high-voltage breaker permanent magnet salient pole motor operation mechanism and a control method, and belongs to the filed of high-voltage switch equipment operation techniques. A drive motor of the operation mechanism drives a salient pole rotor to rotate by means of an electromagnetic torque produced by the drive motor itself and drives the switch-on and switch-off operations of a breaker. Currents are exerted in a single-phase armature winding, a magnetic field produced by a permanent magnet drives the salient pole rotor to rotate under the action of the electromagnetic force. According to the control method, firstly, a charging capacitor bank of the drive motor is charged, a speed weight coefficient and a current weight coefficient are set, and according to the collected armature current and rotation speed signals of the drive motor, the duty ratio and the frequency of a PWM signal is adjusted by means of a weight fuzzy PID algorithm. The drive motor does not need a phase change phase of a traditional permanent magnetic brushless direct-current motor within a work angle, energy consumption of the drive motor is reduced, efficiency of the drive motor can be obviously improved on the working condition that the high-voltage breaker works for a short time period, the non-equilibrium state process of motor phase change is avoided, and the control effect when the drive motor works for a short time period can be obviously improved.
Description
Technical field
The invention belongs to high voltage switchgear field actuating technology, particularly primary cut-out permanent magnetism salient pole machine operating mechanism and control method.
Background technology
Primary cut-out is one of the most complicated most important equipment in electric power system, and can it normally realize fast minute, closing operation has played conclusive effect to the operation of electricity net safety stable.Conventional circuit breaker operating mechanism structure complex structure, moving component is many, and controllability and reliability are not good.Complicated operating mechanism causes the response time of operating mechanism long, dispersed large, and its structure can not meet kinetic characteristic and the operating characteristic of circuit breaker completely.Raising along with primary cut-out intelligent level, smart machine develops into the many aspects such as state signal collecting technology, condition monitoring and fault diagnosis, operative intelligence, secondary control system intellectuality from the peripheral monitoring of initial circuit breaker with control, and wherein most critical is the operative intelligence of circuit breaker.Tradition operating mechanism can not be implemented accurately to follow the tracks of for given circuit breaker expection operation curve, also speed controllable adjustment that can not full operation process, cause dynamic control performance undesirable, difficult assurance meets modern power systems to the intelligentized requirement of breaker operator.Therefore be necessary to study the high-voltage breaker operation mechanism that a kind of control performance is good.
Summary of the invention
The deficiency existing for prior art, the object of this invention is to provide a kind of primary cut-out permanent magnetism salient pole machine operating mechanism and control method, to reach being added in the control of voltage on salient pole type magneto, realize the servo-actuated system to primary cut-out electric operating mechanism divide-shut brake speed.
Technical scheme of the present invention is achieved in that a kind of primary cut-out permanent magnetism salient pole machine operating mechanism, mainly drive motors and electric machine controller, consists of; Electric machine controller is connected with drive motors end by cable, and the end that photoelectric encoder is arranged on drive motors is fixedly connected with electric machine main shaft and passes through shielded communication line and is connected with electric machine controller; The output main shaft of drive motors is connected with rotating spindle by abutted flange dish, and three driving crank one end are connected with transmission main shaft key, have realized the mechanical connection of operating mechanism and breaker body;
The drive motors of described permanent magnetism salient pole operating mechanism is mainly comprised of motor stator, motor field spider, electric machine main shaft, permanent magnet and armature winding; Motor stator used flat key to be fixedly connected with motor field spider, and permanent magnet is bonded on motor field spider, and armature winding is single-phase winding, along symmetrical interface symmetry, was wound in the fluting in motor stator;
The electromagnetic torque that described drive motors produces by self drives field spider to turn, and then drive circuit breaker divides, closing operation; In single-phase armature winding, apply electric current, the magnetic field that permanent magnet produces rotates field spider in the effect of electromagnetic force;
Described permanent magnet is not crossed the symmetrical interface of drive motors, and field spider is rotated in finite angle.
The single-phase armature winding of described drive motors mainly forms by starting winding and braking winding.
Electric machine controller is mainly comprised of power module, signal acquisition module, signal condition module, AD modular converter, data processing unit, communication module, divide-shut brake signaling module, isolated drive circuit, boost module and IGBT module;
In described electric machine controller, signal acquisition module gathers motor current signal, the signal amplitude that makes to collect through signal condition module is stabilized in 0～5V and is input to signal AD modular converter with interior signal after conditioning, after AD modular converter, be input to data processing unit, data processing unit is processed according to input signal and the instruction of motor divide-shut brake, send corresponding PWM ripple, this PWM ripple passes to IGBT module through isolated drive circuit, boost module, and then control cut-offfing of IGBT module, realize the control to motor movement; The divide-shut brake action that divide-shut brake signaling module is drive motors provides control command, and this instruction is passed to data processing unit.
The data processing unit of telling also can with the communication of host computer, by host computer, realize the transmission to the instruction of slave computer divide-shut brake, also can realize the demonstration to drive motors electric current and motor speed curve by host computer.
Described power module further comprises DC power supplier and drive motors charging capacitor pack module.
A control method for primary cut-out permanent magnetism salient pole machine operating mechanism, comprises the following steps:
Step 1: drive motors charging capacitor group is charged, by host computer, default rotating speed and the current curve of drive motors is stored in electric machine controller simultaneously, speed weight coefficient and current weights coefficient are set;
Step 2: whether electric machine controller detects and to receive minute, reclosing command, if receive minute, reclosing command, controls drive motors rotation, otherwise continuation detection;
Step 3: the drive motors armature supply, the tach signal that gather primary cut-out permanent magnetism salient pole machine operating mechanism, by being sent to data processing unit after signal condition and AD conversion, and with electric machine controller in the default electric current, the tach signal comparison that store, by weight fuzzy PID algorithm, regulate duty ratio and the frequency of pwm signal, finally reach the object of controlling drive motors motion, specifically comprise the following steps:
Step 3.1: data processing unit carries out the initialization of pwm signal, then sends pwm signal and drive IGBT turn-on and turn-off, and then realization is added to armature winding two ends by the voltage in charging capacitor group;
Step 3.2: electric current and the tach signal of acquisition module Real-time Collection drive motors, after the processing of signal condition module and AD modular converter, be sent to data processing unit by the measured current of drive motors and actual measurement rotating speed;
Step 3.3: data processing unit compares drive motors rotating speed after treatment and current signal respectively with predetermined drive motors rotating speed and current value, adopt weight fuzzy PID algorithm to adjust to rotating speed and current signal, and regulate accordingly the size of pwm signal duty ratio;
Step 3.4: the pwm signal regulating through step 3.3, continues pwm signal frequency to regulate: when the duty ratio of pwm signal is greater than 0.7, carry out the adjusting of pwm signal frequency, otherwise maintain, just establish frequency; In the process of PWM frequency adjustment, the duty ratio of pwm signal of take is reference, adopts interval Tuning to regulate;
Step 3.5: the pwm signal that data processing unit sends according to duty ratio after adjusting and frequency, by pwm signal, the shutoff of IGBT and conducting are changed to the effective value that is added in drive motors armature winding both end voltage, realize the control to the motion of operating mechanism drive motors;
Step 4: be breaker operator while completing when detecting that the motion of drive motors finishes, control procedure finishes;
The size of the adjusting pwm signal duty ratio described in step 3.3, process is: host computer is set respectively electric current and the weight of rotating speed in changing PWM duty ratio according to the practical operation operating mode of circuit breaker, controls drive motors motion.
Innovative point of the present invention:
(1) the primary cut-out permanent magnetism salient pole machine operating mechanism that the present invention proposes changes from principle the kinematic system of having simplified breaker operation mechanism, has significantly reduced operating mechanism parts, has improved and improved the reliability of operating mechanism.Adopt the permanent magnetism salient pole machine that control performance is good to drive circuit breaker, greatly improved the intellectualized operation level of primary cut-out.
(2) the permanent magnetism salient pole drive motors that the present invention proposes in operating angle without commutation stage of conventional permanent magnet brushless direct current machine, brush and position signalling sensor parts have been simplified, reduced the energy consumption of drive motors, under the operating mode of primary cut-out short-term operation, can significantly improve the efficiency of drive motors, avoid the nonequilibrium state process of motor commutation can obviously improve the control effect under drive motors short-term operation.Be provided with and start winding and braking winding, can obviously improve startup, the braking ability of drive motors.
(3) appropriate design of the present invention be applicable to each hardware system of voltage levels circuit breaker electric machine controller, adopt weight Fuzzy PID operating mechanism drive motors to be controlled from PWM voltage signal frequency and duty ratio two aspects simultaneously, can, according to the different self-defined speed of actuating operating mode of circuit breaker and electric current output regulated quantity PWM frequency and duty cycle adjustment weight, be conducive to improve robustness and the servo-actuated control characteristic of operating mechanism.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention permanent magnetism salient pole machine operating mechanism structural representation;
Fig. 2 is embodiment of the present invention permanent magnetism salient pole drive motors structural representation;
Fig. 3 is embodiment of the present invention electric machine controller composition frame chart;
Fig. 4 is the power principle figure of embodiment of the present invention electric machine controller;
Fig. 5 is the signal acquisition module wiring schematic diagram in kind of the electric machine controller of embodiment of the present invention;
Fig. 6 is the signal condition modular circuit schematic diagram of embodiment of the present invention electric machine controller;
Fig. 7 is the circuit theory diagrams of the ADS8364 modular converter of embodiment of the present invention electric machine controller;
Fig. 8 is the circuit theory diagrams of level shifting circuit of the 5V～3.3V of embodiment of the present invention electric machine controller;
Fig. 9 is the divide-shut brake signal capture modular circuit schematic diagram of embodiment of the present invention electric machine controller;
Figure 10 is the circuit theory diagrams of the driving isolation circuit of embodiment of the present invention electric machine controller;
Figure 11 is the boost module of embodiment of the present invention electric machine controller and the circuit theory diagrams of peripheral circuit;
Figure 12 is the circuit theory diagrams of the IGBT module of embodiment of the present invention electric machine controller;
Figure 13 is the data processing unit acp chip TMS320F28335 circuit theory diagrams of embodiment of the present invention electric machine controller;
Figure 14 is the circuit theory diagrams of the RS232 communication module of embodiment of the present invention electric machine controller;
Figure 15 is the circuit theory diagrams of the RS485 communication module of embodiment of the present invention electric machine controller;
Figure 16 is the control system flow chart of embodiment of the present invention electric machine controller.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are described in further detail.
Present embodiment be take 126kV vacuum circuit-breaker as example, the requirement according to arc control device to operating mechanism, and the primary cut-out permanent magnetism salient pole machine operating mechanism of employing, as shown in Figure 1.Operating mechanism is arranged on circuit breaker limit phase position, and mainly by drive motors 1, electric machine controller 2 and photoelectric encoder 3 form.In present embodiment, adopt a motor direct-drive transmission mechanism to carry out the three phase mechanical linkage of circuit breaker.
The output main shaft of drive motors 1 is connected with rotating spindle 5 by abutted flange dish 4, and three driving crank 6 one end are connected with transmission main shaft 5 keys, have realized the mechanical connection of operating mechanism and breaker body 7.The drive motors 1 of permanent magnetism salient pole operating mechanism is comprised of motor stator 8, motor field spider 9, electric machine main shaft 10, permanent magnet 11 and armature winding 12.Motor stator 13 with motor field spider 9 use flat key be fixedly connected with, realize coaxial rotating.Permanent magnet 11 is bonded on motor field spider 9.Armature winding 12 is single-phase winding, along symmetrical interface, is wound in the fluting in motor stator 8, and drive motors 1 is in priority task angle, as shown in Figure 2.While passing through directional current in armature winding 12, the magnetic field interaction producing with permanent magnet 11 produces electromagnetic torque, promotes field spider 9 and rotates.Armature winding 12 is divided into startup winding AA
1, braking winding BB
1with remaining water conservancy diversion winding.The startup stage of drive motors, starting winding AA
1with in water conservancy diversion winding, apply forward current, drive field spider 9 to be rotated counterclockwise.Start the electric current applying in winding and be greater than the current value in water conservancy diversion winding, additionally increase detent torque, reduced the start-up course time.Simultaneously at braking winding BB
1in apply reverse current, make receive the effect of electromagnetic torque in the other direction when winding and produce braking moving to braking when field spider 9, reduced because of drive motors cut rotates field spider 9 is impacted.In the motion process of drive motors 9, the sense of current in armature winding 12 is fixed, and does not have commutation link.Present embodiment has been avoided the commutation process of traditional brshless DC motor, thereby without the position signalling transducer of commutation brush and traditional brushless electric machine, save the energy loss in motor commutation stage, under the operating mode of primary cut-out short-term operation, can significantly improve the efficiency of drive motors.Meanwhile, avoid the nonequilibrium state process of motor commutation can obviously improve the control effect under drive motors short-term operation.
The basic composition of electric machine controller 2 and system block diagram are as shown in Figure 3.Power module is that all parts in electric machine controller are powered.Signal acquisition circuit is through signal condition module, AD modular converter connection data processing unit, data processing unit one road output connects IGBT module through isolated drive circuit, boost module, another road output of data processing unit connects motor position signal trapping module, the Third Road output of data processing unit connects separating brake combined floodgate automatic reclosing trapping module, and data processing unit tetra-road outputs connect host computer through communication module.
Power module is mainly comprised of DC power supplier and drive motors charging capacitor pack module.DC power supplier comprises 5V ,+12V, 15V.5V power supply is that LM358, ADS8364 (AD modular converter) and optocoupler HCPL-63N provide operating voltage.+ 12V provides supply voltage for voltage-current sensor.15V provides supply voltage for 2SC0108T2A0～A17 boost module.3.3V is that the normal operation of TMS320F28335 (data processing unit) provides stable voltage.This power module is used AMS1117 chip, utilizes this chip to form the hardware circuit of 5V～3.3V, and its schematic diagram as shown in Figure 4.
What signal acquisition module was selected is CHF-200B Hall element.The physical cabling figure of this Hall element as shown in Figure 5.Hall element has 4 pins, connect+12V of first pin, and second connect-12V of pin, the 3rd pin is the output of transducer signal, this pin is connected on the input UA0 of signal conditioning circuit, the 4th pin ground connection.
Before carrying out AD conversion, need to nurse one's health signal, the signal of guaranteeing to be input to ADS8364 is in 0～5V, meets the range of signal that this AD chip gathers.Signal condition module is comprised of LM358 and peripheral circuit.The feedback resistance R of its current signal
1value can be 1K Ω～3K Ω.According to the R in present embodiment that needs of actual conditions
1the 1K Ω selecting.Its circuit theory diagrams as shown in Figure 6.
AD modular converter is by ADS8364 and peripheral hardware the electric circuit constitute thereof.The conversion effective accuracy of this chip reaches 16, and frequency, up to 250kHz, effectively meets sampling request.The circuit theory diagrams of ADS8364 modular converter as shown in Figure 7.The UA0-of signal conditioning circuit, UA0+, UB0-, UB0+, UC0-, UC0+ end are connected to CHA0-, CHA0+, CHB0-, CHB0+, CHC0-, the CHC0+ end of AD modular converter.
The range of signal of ADS8364 output is 0～5V, and the scope of TMS320F28335 processing signals is 0～3.3V, therefore need to connect the level shifting circuit of a 5V～3.3V between ADS8364 and TMS320F28335.This level shifting circuit utilizes LL245A to realize, and by the 1st pin and the 24th pin of LL245A, realizes the control to the input and output direction of this chip pin, and its circuit theory diagrams as shown in Figure 8.The 1B1 of LL245A, 1B2,1B3,1B4,1B5,1B6,1B7,1B8,2B1,2B2,2B3,2B4,2B5,2B6,2B7,2B8 pin connect D0～D15 pin of ADS8364.
In order to realize, to the control of motor, will to rotate divide-shut brake signal to motor and catch.The divide-shut brake signal capture of motor adopts 74HC14 and CC384 chip to form.The signal obtaining during divide-shut brake signal capture is high level, normal operation in order to ensure device, present embodiment adopts low level signal to trigger divide-shut brake, therefore the hardware circuit of divide-shut brake signal capture needs a reverse function, therefore divide-shut brake signal acquisition circuitry is according to the function wiring of inverter.High level signal in view of 74HC14 output is 5V simultaneously, therefore need to realize by CC384 the conversion of 5V～3.3V.Motor divide-shut brake signal capture modular circuit schematic diagram as shown in Figure 9.The CAP4 of TMS320F28335 processor, CAP5, CAP6 pin connect 1A4, the 1A5 of CC384, the pin of 1A3, the 1B4 of CC384,1B5,1B3 pin are connected with 4Y, 5Y, the 6Y pin of 74HC14 device, and the 4A of 74HC14 device, 5A, 6A are connected with divide-shut brake automatic reclosing button respectively.
When capturing divide-shut brake signal, TMS320F28335 will send corresponding PWM ripple.Now the amplitude of PWM ripple is 3.3V, according to the requirement of selecting boost module, the PWM ripple that needs 5V, therefore will realize the conversion of 3.3V～5V in driving isolation module, also will realize isolation avoids amplitude to cross large-signal disturbing and to burn DSP, select 74HC245 to do the driving of optocoupler and the conversion that optocoupler HCPL-63N realizes 3.3V～5V simultaneously.Its schematic diagram as shown in figure 10.A0～A5 pin of driving isolation circuit 74HC245 device connects PWM0～PWM5 pin of TMS320F28335, and the Q0～Q5 of 74HC245 device is connected with CATHODE1, the CATHODE2 of three HCPL-63N respectively.
The IGBT of present embodiment opens the voltage that needs 15V, therefore need to further boost to pwm signal.What boost module adopted is 2SC0108T2A0～17, its first pin ground connection, and second and the 3rd pin connects respectively the input of PWM ripple, and the 4th pin connects 15V power supply, and the 9th pin and 17 pins connect respectively the output of PWM ripple.Its schematic diagram as shown in figure 11.The INA of 2SC0108T2A0～17, INB pin connect VO1, the VO2 pin of buffer circuit HCPL-63N, and the GATE1 of 2SC0108T2A0～17, GATE1 pin connect the grid pin of IGBT.
What the IGBT module in present embodiment was selected is that the three-phase bridge consisting of IGBT drives loop.The IGBT model of selecting is SKM600GB066D.Each module forms an independently upper and lower bridge arm.A SKM600GB066D is by 7 pins.1,2,6 is respectively collector electrode, emitter and the grid of lower brachium pontis, and 3,4,5 is respectively collector electrode, emitter and the grid of upper brachium pontis.4,6 is control pin, connects PWM ripple signal.3,2 pin are received respectively the two ends of capacitor group, for motor drives, provide voltage.5,7 pin and 4, the poor IGBT that cut-offs of 6 pin voltage.2 and 7,5 and 1 concurrent, 1 pin and 2 pin, connect the suction ripple electric capacity of 0.1uF between 3 pin and 5 pin, prevent that IGBT is breakdown.Its circuit theory diagrams as shown in figure 12.
The TMS320F28335 that the data processing unit of electric machine controller adopts TI company to release.The DSP of this model supports floating type data manipulation on the basis of having inherited DSP2812, has greatly improved treatment effeciency and the precision of data, and its application at industrial control field is further improved.The data processing unit acp chip TMS320F28335 pin explanation of electric machine controller and physical cabling figure are as shown in figure 13.
Present embodiment is also for the supporting PC control page of having researched and developed of electric machine controller.In order to realize the communication of host computer and slave computer, to be also convenient to observe by host computer the data that slave computer collects, this control device is provided with RS232 and RS485 communication module.Wherein RS232 communication is comprised of MAX3232 and peripheral circuit thereof, and RS485 communication is comprised of SP3485 and peripheral circuit thereof.Its RS232 and RS485 communication module circuit theory diagrams are respectively as shown in Figure 14 and Figure 15.
The flow process that present embodiment is carried out follow-up control method to permanent magnetism salient pole machine as shown in figure 16.Comprise the following steps:
Step 1: first, drive motors charging capacitor group in power module is charged, according to the different operating modes of breaker operator, by host computer, predetermined rotating speed and the current curve of drive motors is stored in electric machine controller simultaneously, as the goal of regulation and control of drive motors motion process medium speed, current signal, speed weight coefficient and current weights coefficient are set simultaneously.
Step 2: whether electric machine controller detection receives circuit breaker is divided the instruction of closing operation lock, if do not receive instruction, electric machine controller continues to detect, if receive instruction, electric machine controller starts to control drive motors action.
Step 3: the drive motors armature supply, the tach signal that gather primary cut-out permanent magnetism salient pole machine operating mechanism, by being sent to data processing unit after signal condition and AD conversion, and with electric machine controller in the default electric current, the tach signal comparison that store, by weight fuzzy PID algorithm, regulate duty ratio and the frequency of pwm signal, finally reach the object of controlling drive motors motion, specifically comprise the following steps:
Step 3.1: when electric machine controller carries out locomotive regulation to drive motors, data processing unit will carry out initialization, pwm signal sends the duty ratio according to predetermined and frequency, grid through signal condition rear drive IGBT, thereby realize the turn-on and turn-off to IGBT, voltage in charging capacitor group is added to armature winding two ends, drives the rotation of operating mechanism drive motors.
Step 3.2: electric current and the tach signal of acquisition module Real-time Collection drive motors, after the processing of signal condition module and AD modular converter, be sent to data processing unit by the measured current of drive motors and actual measurement rotating speed;
Step 3.3: data processing unit compares drive motors rotating speed after treatment and current signal respectively with predetermined drive motors rotating speed and current value, adopt weight fuzzy PID algorithm to adjust to rotating speed and current signal, and regulate accordingly the size of pwm signal duty ratio, realize the control to drive motors motion.
Adopt weight fuzzy PID algorithm to realize as follows to the adjustment process of pwm signal duty ratio:
Data processing unit is by the drive motors velocity amplitude v collecting and give default velocity amplitude v comparison, draws the assigned error Δ V that speed regulates, and according to this error delta V, adopts fuzzy controller to adjust to permanent magnetism salient pole machine rotating speed, electric current.
Carry out fuzzy while adjusting, using velocity deviation value e and deviation ratio ec as speed, regulating the input of fuzzy controller, according to deviate e and deviation ratio ec, determining the control parameter k of controller
p, k
i, k
dvalue.
The rate of change ec of speed amount deviation e and velocity deviation obtains fuzzy language variable E and Ec through Fuzzy processing, and the fuzzy subset of E and Ec is { NB, NM, NS, Z, PS, PM, PB}, wherein, NB represents negative large, and during NM represents to bear, NS represents negative little, Z represents zero, PS represents just little, and PM PS represents center, and PB PS represents honest.
Output variable K
p, K
i, K
dfuzzy subset be { NB, NM, NS, Z, PS, PM, PB}.In present embodiment, choose fuzzy language variable E, Ec and K
p, K
i, K
ddomain be 6 ,-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6}.E, the equal obeys triangular membership function of Ec curve distribution, K
p, K
i, K
dall obey Gaussian membership function curve distribution.K wherein
p, K
i, K
dfuzzy control rule as shown in table 1 below:
Table 1 is K
p, K
i, K
dfuzzy control rule
According to table 1, calculate K
p, K
i, K
dcorrection value Fuzzy (K
p), Fuzzy (K
i), Fuzzy (K
d).
Finally according to formula (1)～(3), adjust K
p, K
i, K
deach value, concrete formula is as follows:
K
P＝K
P0+Fuzzy(K
P) (1)
K
I＝K
I0+Fuzzy(K
I) (2)
K
D＝K
D0+Fuzzy(K
D) (3)
In formula, conventionally get K
p0=400, K
i0=1.2, K
d0=1.
By current sensor detected current value i
1assigned error Δ V comparison with speed regulates, draws current error Δ i
1value is:
Δi
1＝K
1Δv (4)
In formula, K
1for electric current adjustment factor.
The current value i that current sensor is recorded
1with current error value Δ i
1be added, determine that electric current regulates set-point
for:
If the duty ratio of pwm signal is α
k1, and α
k1span be 0～1.
If default drive motors current maxima is I in electric machine controller
max1, | I
*| span be 0～I
max1.
According to following formula, regulate the duty cycle alpha of pwm signal
k1:
In formula, m is current weights coefficient, and n is speed weight coefficient.
Step 3.4: the pwm signal regulating through step 3.3, continues pwm signal frequency to regulate:
The adjusting of pwm signal frequency f is only in pwm signal duty cycle alpha
k1in the situation of > 0.7, regulate; At α
k1maintain former frequency at≤0.7 o'clock.The mode that f adopts 3 intervals to adjust, the interval tuning rule table of pwm signal frequency is as shown in table 2:
Table 2 is the interval tuning rule table of pwm signal frequency
Step 3.5: the pwm signal that data processing unit sends according to duty ratio after adjusting and frequency, by pwm signal, the shutoff of IGBT and conducting are changed to the effective value that is added in drive motors armature winding both end voltage, realize the control to the motion of operating mechanism drive motors;
Step 4: electric machine controller detects whether execution of drive motors, if not yet complete, continues to control drive motors motion, if complete, stops drive motors motion, and control procedure finishes.
Although more than described the specific embodiment of the present invention, the those skilled in the art in this area should be appreciated that these only illustrate, and can make various changes or modifications to these execution modes, and not deviate from principle of the present invention and essence.Scope of the present invention is only limited by appended claims.
Claims (8)
1. a primary cut-out permanent magnetism salient pole machine operating mechanism, is characterized in that: mainly drive motors (1) and electric machine controller (2), consist of; Electric machine controller (2) is connected with drive motors (1) end by cable, and the end that photoelectric encoder (3) is arranged on drive motors (1) is fixedly connected with electric machine main shaft (10) and passes through shielded communication line and is connected with electric machine controller (2); The output main shaft of drive motors (1) is connected with rotating spindle (5) by abutted flange dish (4), three driving cranks (6) one end is connected with transmission main shaft (5) key, has realized the mechanical connection of operating mechanism and breaker body (7);
The drive motors (1) of described permanent magnetism salient pole operating mechanism is mainly comprised of motor stator (8), motor field spider (9), electric machine main shaft (10), permanent magnet (11) and armature winding (12); Motor stator (8) used flat key to be fixedly connected with motor field spider (9), permanent magnet (11) is bonded on motor field spider (9), armature winding (12) is single-phase winding, along symmetrical interface symmetry, is wound in the fluting in motor stator (10);
The electromagnetic torque that described drive motors (1) produces by self drives field spider (9) rotation, and then drive circuit breaker divides, closing operation; In single-phase armature winding (12), apply electric current, the magnetic field that permanent magnet (11) produces rotates field spider (9) in the effect of electromagnetic force.
2. primary cut-out permanent magnetism salient pole machine operating mechanism according to claim 1, is characterized in that: described permanent magnet (11) is not crossed the symmetrical interface of drive motors (1), and field spider (9) is rotated in finite angle.
3. primary cut-out permanent magnetism salient pole machine operating mechanism according to claim 1, is characterized in that: the single-phase armature winding (12) of described drive motors (1) mainly forms by starting winding and braking winding.
4. primary cut-out permanent magnetism salient pole machine operating mechanism according to claim 1, is characterized in that: electric machine controller (2) is mainly comprised of power module, signal acquisition module, signal condition module, AD modular converter, data processing unit, communication module, divide-shut brake signaling module, isolated drive circuit, boost module and IGBT module;
In described electric machine controller, signal acquisition module gathers motor current signal, the signal amplitude that makes to collect through signal condition module is stabilized in 0～5V and is input to signal AD modular converter with interior signal after conditioning, after AD modular converter, be input to data processing unit, data processing unit is processed according to input signal and the instruction of motor divide-shut brake, send corresponding PWM ripple, this PWM ripple passes to IGBT module through isolated drive circuit, boost module, and then control cut-offfing of IGBT module, realize the control to motor movement; The divide-shut brake action that divide-shut brake signaling module is drive motors provides control command, and this instruction is passed to data processing unit.
5. primary cut-out permanent magnetism salient pole machine operating mechanism according to claim 4, it is characterized in that: described data processing unit also can with the communication of host computer, by host computer, realize the transmission to the instruction of slave computer divide-shut brake, also can realize the demonstration to drive motors electric current and motor speed curve by host computer.
6. primary cut-out permanent magnetism salient pole machine operating mechanism according to claim 4, is characterized in that: described power module further comprises DC power supplier and drive motors charging capacitor pack module.
7. a control method for primary cut-out permanent magnetism salient pole machine operating mechanism, controls primary cut-out permanent magnetism salient pole machine operating mechanism claimed in claim 1, it is characterized in that: comprise the following steps:
Step 1: drive motors charging capacitor group is charged, by host computer, default rotating speed and the current curve of drive motors is stored in electric machine controller simultaneously, speed weight coefficient and current weights coefficient are set;
Step 2: whether electric machine controller detects and to receive minute, reclosing command, if receive minute, reclosing command, controls drive motors rotation, otherwise continuation detection;
Step 3: the drive motors armature supply, the tach signal that gather primary cut-out permanent magnetism salient pole machine operating mechanism, by being sent to data processing unit after signal condition and AD conversion, and with electric machine controller in the default electric current, the tach signal comparison that store, by weight fuzzy PID algorithm, regulate duty ratio and the frequency of pwm signal, finally reach the object of controlling drive motors motion, specifically comprise the following steps:
Step 3.1: data processing unit carries out the initialization of pwm signal, then sends pwm signal and drive IGBT turn-on and turn-off, and then realization is added to armature winding two ends by the voltage in charging capacitor group;
Step 3.2: electric current and the tach signal of acquisition module Real-time Collection drive motors, after the processing of signal condition module and AD modular converter, be sent to data processing unit by the measured current of drive motors and actual measurement rotating speed;
Step 3.3: data processing unit compares drive motors rotating speed after treatment and current signal respectively with predetermined drive motors rotating speed and current value, adopt weight fuzzy PID algorithm to adjust to rotating speed and current signal, and regulate accordingly the size of pwm signal duty ratio;
Step 3.4: the pwm signal regulating through step 3.3, continues pwm signal frequency to regulate: when the duty ratio of pwm signal is greater than 0.7, carry out the adjusting of pwm signal frequency, otherwise maintain, just establish frequency; In the process of PWM frequency adjustment, the duty ratio of pwm signal of take is reference, adopts interval Tuning to regulate;
Step 3.5: the pwm signal that data processing unit sends according to duty ratio after adjusting and frequency, by pwm signal, the shutoff of IGBT and conducting are changed to the effective value that is added in drive motors armature winding both end voltage, realize the control to the motion of operating mechanism drive motors;
Step 4: be breaker operator while completing when detecting that the motion of drive motors finishes, control procedure finishes.
8. the control method of primary cut-out permanent magnetism salient pole machine operating mechanism according to claim 7, it is characterized in that: the size of the adjusting pwm signal duty ratio described in step 3.3, process is: host computer is set respectively electric current and the weight of rotating speed in changing PWM duty ratio according to the practical operation operating mode of circuit breaker, controls drive motors motion.
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