CN109510424B - Direct-drive motor mechanism for breaking test of coal mine isolating switch and control system thereof - Google Patents
Direct-drive motor mechanism for breaking test of coal mine isolating switch and control system thereof Download PDFInfo
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- CN109510424B CN109510424B CN201811545257.XA CN201811545257A CN109510424B CN 109510424 B CN109510424 B CN 109510424B CN 201811545257 A CN201811545257 A CN 201811545257A CN 109510424 B CN109510424 B CN 109510424B
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- 239000003245 coal Substances 0.000 title claims abstract description 58
- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 239000003990 capacitor Substances 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 230000009977 dual effect Effects 0.000 abstract description 9
- 230000008569 process Effects 0.000 description 8
- 230000001052 transient effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
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- Engineering & Computer Science (AREA)
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- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The utility model belongs to the technical field of colliery electrical test, colliery isolator divides the experimental direct drive motor mechanism of using, including having dual output motor, the stopper, the magnet steel, angle sensor, colliery isolator and flange, wherein the magnet steel sets up on dual output motor's the first end that stretches out of main shaft, and angle sensor fixes on dual output motor's the first end top that stretches out, dual output motor main shaft's second stretches out the end and passes through flange and colliery isolator's main shaft to be connected, torque sensor installs on the colliery isolator main shaft between flange and colliery isolator, the stopper stretches out the end through dual output motor main shaft second and connects on the shell of dual output motor, direct drive motor mechanism is small, moreover, the steam generator is simple in structure, accumulated movement tolerance is little, stability is good. In addition, the invention also provides a direct-drive motor control system for the breaking test of the coal mine isolating switch.
Description
Technical Field
The patent belongs to colliery electrical test technical field, in particular to colliery isolator divides direct drive motor mechanism for test, is applicable to colliery isolator experimental operation's intellectuality.
Background
The coal mine isolating switch is an important element of equipment such as a mine starter, an electric cabinet, a feed switch and the like, plays a role in electrically isolating a power supply and the equipment in a power grid, and the quality of products is directly related to coal mine safety production and stable operation of the power grid. At present, the operation modes of the coal mine isolating switch during breaking test are driven by a hand pulling and pneumatic mechanism, and the modes are complex in operation, low in stability and poor in controllability, and have potential safety hazards.
Disclosure of Invention
In order to solve the problems, the invention provides a direct-drive motor mechanism for a breaking test of a coal mine isolating switch, which can realize the simulation of the actual running breaking working condition of the coal mine isolating switch through the tracking adjustment control of the transient torque in the action process of the motor mechanism.
In order to achieve the above purpose, the invention adopts the following technical scheme:
In a first technical scheme, colliery isolator divides the experimental direct-drive motor mechanism of using, including having two output motor, the stopper, magnet steel, angle sensor, colliery isolator and flange, wherein the magnet steel sets up on the first end that stretches out of main shaft of two output motor, and angle sensor fixes on the first end top that stretches out of two output motor, the second that stretches out of two output motor main shafts stretches out the end and passes through the main shaft connection of flange and colliery isolator, torque sensor installs on the colliery isolator main shaft between flange and colliery isolator, the stopper stretches out the end through the second of two output motor main shaft and connects on the shell of two output motor.
In the first technical solution, preferably, the dual-output motor is a permanent magnet brushless dc motor.
In a second technical scheme, the direct-drive motor control system for the coal mine isolating switch breaking test comprises the direct-drive motor mechanism for the coal mine isolating switch breaking test in the first technical scheme, a voltage-regulating power supply, a direct-current contactor, a rectifying unit, a capacitor bank, a DSP, an IGBT driving circuit, a bridge driving circuit, a signal amplifying circuit, a signal processing circuit, a control panel, a display driving circuit, a display screen and a current detection unit, wherein the signal output ends of an angle sensor and a torque sensor of the direct-drive motor mechanism for the coal mine isolating switch breaking test are connected with the analog signal input end of the DSP through the signal processing circuit; the input end of the voltage regulating power supply is connected with an external power grid, the output end of the voltage regulating power supply is connected with the input end of the rectifying unit, the positive electrode and the negative electrode of the output end of the rectifying unit are connected with the voltage input end of the direct current contactor, the voltage output end of the direct current contactor is connected with the positive electrode and the negative electrode of the capacitor bank respectively, and the positive electrode and the negative electrode of the capacitor bank are connected with the positive electrode and the negative electrode of the power input end of the bridge type driving circuit respectively; the control signal output end of the DSP is connected with the input ends of the IGBT driving circuit and the signal amplifying circuit, the output end of the signal amplifying circuit is connected with the signal control end of the direct current contactor, the signal output end of the IGBT driving circuit is connected with the control signal input end of the bridge driving circuit, the output end of the control panel is connected with the digital signal input terminal of the DSP, the input end of the display driving circuit is connected with the signal output end of the DSP, the output end of the display driving circuit is connected with the signal input end of the display screen, the measuring end of the current detecting unit is connected with the winding of the direct drive motor mechanism for the coal mine isolating switch breaking test, the signal output end of the voltage detecting unit is connected with the two-phase winding of the direct drive motor mechanism for the coal mine isolating switch breaking test, and the signal output end of the voltage detecting unit is connected with the analog signal input end of the DSP.
In the second technical solution, preferably, the DSP is a DSP minimum system.
In the second technical scheme, as an optimization, the control method of the direct-drive motor control system for the breaking test of the coal mine isolating switch is as follows:
step 1, initializing a system;
step2, after the system is initialized, charging the capacitor bank 12;
step 3, judging the voltage value of the capacitor bank 12, if the voltage value of the capacitor bank 12 accords with the threshold value, performing step 4, otherwise, returning to step 2;
Step 4, waiting to call a breaking operation program command, if the command is execution entering step 5, if the command is prohibition, returning to step 3;
And step 5, entering a calling breaking operation program, and ending after recording data.
In the second technical means, preferably, the breaking operation procedure is performed according to the following steps:
step A: detecting information of the angle sensor 4, judging whether phase change is needed, executing the step B if the phase change is needed, otherwise executing the step C;
And (B) step (B): invoking an IGBT conduction relation and driving signal relation table, changing the state of a power tube, and carrying out phase change on a motor winding;
Step C: judging whether the free movement stage is reached or not according to the feedback value of the torque sensor 21, if so, executing the step D, and if not, executing the step A;
step D: stopping the output of the control signal, enabling the motor mechanism to move freely, and detecting whether the motor mechanism reaches the end position in real time;
Step E: if the end position is reached, the step F is executed, and the step D is not executed;
step F: the motor mechanism is electrically braked;
step G: and (5) returning.
In a second technical scheme, as an preferable mode, the control method of the direct-drive motor control system for the breaking test of the coal mine isolating switch further comprises the following steps:
Removing interference data: the DSP collects position signals fed back by the angle sensor, performs difference operation on the position signals collected each time and the previous signal from the second position signals to obtain a position change rate, compares the position signals with the previous position change rate from the second position change rate, and judges the position signals to be interference data and eliminates the interference data if the comparison result is too threshold.
The beneficial effects of using the invention are as follows:
The direct-drive motor mechanism for the breaking test of the coal mine isolating switch has the advantages of small volume, simple structure, small accumulated motion tolerance and good stability; the transient torque tracking adjustment control of the motor mechanism action process is realized by utilizing the power electronic technology, so that the controllability of the breaking test process of the coal mine isolating switch is improved, and the development requirement of national intelligent electric appliances is met.
Drawings
Fig. 1 is a schematic structural diagram of a direct-drive motor mechanism for a breaking test of a coal mine isolating switch.
Fig. 2 is a block diagram of a direct-drive motor control system for a breaking test of a coal mine isolating switch.
Fig. 3 is a logic diagram of the operation of the direct drive motor control system for the breaking test of the coal mine isolating switch.
Fig. 4 is a logic diagram of breaking operation of the direct drive motor control system for breaking test of the coal mine isolating switch.
The reference numerals include:
1. A dual output motor; 2. a limiter; 3. magnetic steel; 4. an angle sensor; 5. a flange; 6, a coal mine isolating switch; dsp;8. a signal processing circuit; 9. a motor mechanism; IGBT driving circuit; 11. a bridge driving circuit; 12. a capacitor bank; 13. a DC contactor; 14. a signal amplifying circuit; 15. a rectifying unit; 16. a voltage regulating power supply; 17. a display screen; 18. a display driving circuit; 19. a control panel; 20. a current detection unit; 21. a torque sensor; 22. a voltage detection unit; 23. a central control system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the direct-drive motor for the coal mine isolating switch breaking test provided by the embodiment comprises a double-output motor 1, a limiter 2, magnetic steel 3, an angle sensor 4, a coal mine isolating switch 6 and a flange 5, wherein the magnetic steel 3 is arranged on the first extending end of a main shaft of the double-output motor 1, the angle sensor 4 is fixed on the top end of the first extending end of the double-output motor 1, the second extending end of the main shaft of the double-output motor 1 is connected with the main shaft of the coal mine isolating switch 6 through the flange 5, a torque sensor 21 is arranged on the main shaft of the coal mine isolating switch 6 between the flange 5 and the coal mine isolating switch 6, and the limiter 2 is connected on the shell of the double-output motor 1 through the second extending end of the main shaft of the double-output motor 1.
Preferably, the dual output motor 1 is a permanent magnet brushless dc motor. The direct-drive motor for the breaking test of the coal mine isolating switch in fig. 1 is the motor mechanism 9 in fig. 2.
As shown in fig. 2-4, the direct-drive motor control system for breaking test of the coal mine isolating switch comprises a motor mechanism 9, a voltage-regulating power supply 16, a direct-current contactor 13, a rectifying unit 15, a capacitor bank 12, a DSP7, an IGBT driving circuit 10, a bridge driving circuit 11, a signal amplifying circuit 14, a signal processing circuit 8, a control panel 19, a display driving circuit 18, a display screen 17 and a current detecting unit 20, wherein the signal output ends of an angle sensor 4 and a torque sensor 21 of the motor mechanism 9 are connected with the analog signal input end of the DSP7 through the signal processing circuit 8; the input end of the voltage regulating power supply 16 is connected with an external power grid, the output end of the voltage regulating power supply 16 is connected with the input end of the rectifying unit 15, the positive electrode and the negative electrode of the output end of the rectifying unit 15 are connected with the voltage input end of the direct current contactor 13, the voltage output end of the direct current contactor 13 is respectively connected with the positive electrode and the negative electrode of the capacitor bank 12, and the positive electrode and the negative electrode of the capacitor bank 12 are respectively connected with the positive electrode and the negative electrode of the power input end of the bridge driving circuit 11; the control signal output end of the DSP7 is connected with the IGBT driving circuit 10 and the input end of the signal amplifying circuit 14, the output end of the signal amplifying circuit 14 is connected with the signal control end of the dc contactor 13, the signal output end of the IGBT driving circuit 10 is connected with the control signal input end of the bridge driving circuit 11, the output end of the control panel 19 is connected with the digital signal input terminal of the DSP7, the input end of the display driving circuit 18 is connected with the signal output end of the DSP7, the output end of the display driving circuit 18 is connected with the signal input end of the display screen 17, the measuring end of the current detecting unit 20 is connected with the winding of the motor mechanism 9, the signal output end of the current detecting unit 20 is connected with the analog signal input end of the DSP7, the measuring end of the voltage detecting unit 22 is connected with the analog signal input end of the DSP7, and the protection signal output end of the DSP7 is connected with the signal input end of the central control system 23.
The breaking process of the coal mine isolating switch is as follows: the external operating force acts on the rotating shaft of the coal mine isolating switch 6 to pull the energy storage spring to deform in the early breaking stage, the energy storage spring is recovered to deform when the transmission mechanism of the coal mine isolating switch 6 passes through the dead point in the later breaking stage, and the coal mine isolating switch 6 moves freely to the breaking position. By adopting a transient torque tracking adjustment control technology, the DSP7 torque signal is subjected to operation processing, and then the control signal is stopped after the maximum torque point is reached, the output torque of the double-output motor 1 is zero, and the coal mine isolating switch 6 is driven by a mechanism of the double-output motor to continue to move, so that the simulation of the actual running breaking working condition is realized. The coal mine isolating switch 6 has a phase-change function (forward and reverse bidirectional operation, the action process is defined as forward), and can be switched on reversely after the coal mine isolating switch is switched off to the end position, and the braking limit of the double-output motor 1 is matched with the mechanical limit mechanism after the coal mine isolating switch is switched off to the end position, so that the effect of double limit is achieved, and the whole test system is protected.
And the maximum torque point of the coal mine isolating switch 6 in the transient torque tracking and adjusting control process is judged by adopting the cooperative operation of the torque and the current signal. And the DSP7 acquires torque and current signals (10 times of acquisition in 1 millisecond) in real time after the breaking test of the coal mine isolating switch begins, performs difference operation on the torque and current signals of the front and back times, and considers that the maximum torque point is reached if the continuous operation result of the torque and current signals for 10 times is smaller than zero.
The IGBT driving circuit 10 realizes the isolation driving and fault protection of PWM output signals of the DSP7 to the bridge driving circuit 11; the bridge driving circuit 11 controls the conduction sequence of motor winding current; the amplifying circuit realizes the amplification of the output signal of the DSP7 and effectively controls the direct current contactor 13; the current detection unit 20 and the voltage detection unit 22 are composed of a sensor and a signal conversion circuit, so that the detection of the current and the phase voltage of the motor winding is realized; the signal processing circuit 8 is divided into an analog signal processing branch and a digital signal processing branch, so that the matching between the torque signal and the position signal and the signal which can be received by the DSP7 is realized.
In this embodiment, the DSP7 is a DSP minimum system.
Preferably, the dual output motor 1 is a permanent magnet brushless dc motor. The direct-drive motor for the breaking test of the coal mine isolating switch in fig. 1 is the motor mechanism 9 in fig. 2.
As shown in fig. 3, in this embodiment, the operation logic of the direct-drive motor control system for the breaking test of the coal mine isolating switch is as follows,
Step 1, initializing a system;
step2, after the system is initialized, charging the capacitor bank 12;
step 3, judging the voltage value of the capacitor bank 12, if the voltage value of the capacitor bank 12 accords with the threshold value, performing step 4, otherwise, returning to step 2;
Step 4, waiting to call a breaking operation program command, if the command is execution entering step 5, if the command is prohibition, returning to step 3;
And step 5, entering a calling breaking operation program, and ending after recording data.
In the operation logic of the direct-drive motor control system for the breaking test of the coal mine isolating switch, the breaking operation subroutine is executed according to the following steps:
step A: detecting information of the angle sensor 4, judging whether phase change is needed, executing the step B if the phase change is needed, otherwise executing the step C;
And (B) step (B): invoking an IGBT conduction relation and driving signal relation table, changing the state of a power tube, and carrying out phase change on a motor winding;
Step C: judging whether the free movement stage is reached or not according to the feedback value of the torque sensor 21, if so, executing the step D, and if not, executing the step A;
step D: stopping the output of the control signal, enabling the motor mechanism to move freely, and detecting whether the motor mechanism reaches the end position in real time;
Step E: if the end position is reached, the step F is executed, and the step D is not executed;
step F: the motor mechanism is electrically braked;
step G: and (5) returning.
Comparing the collected motor mechanism position signal with a parameter set value, and judging whether the motor mechanism position signal reaches a free movement stage and an end position. In order to prevent the misoperation of the control system caused by the interference signal, a software program shielding interference signal technology is adopted, the DSP7 collects position signals fed back by the angle sensor, performs difference operation on each collected position signal and the previous signal from the second position signal to obtain a position change rate, compares the second position change rate with the previous position change rate, and judges the position signal to be interference data if the comparison result is too high.
The embodiment can obtain that the direct-drive motor for the breaking test of the coal mine isolating switch has small volume, simple structure, small accumulated movement tolerance and good stability; the transient torque tracking adjustment control of the motor action process is realized by utilizing the power electronic technology, so that the controllability of the breaking test process of the coal mine isolating switch is improved, and the development requirement of national intelligent electric appliances is met.
The foregoing is merely exemplary of the present invention, and many variations may be made in the specific embodiments and application scope of the invention by those skilled in the art based on the spirit of the invention, as long as the variations do not depart from the gist of the invention.
Claims (3)
1. Direct-drive motor control system for breaking test of coal mine isolating switch is characterized in that: the direct-drive motor mechanism for the coal mine isolating switch breaking test comprises a double-output motor, a limiter, magnetic steel, an angle sensor, a coal mine isolating switch and a flange, wherein the magnetic steel is arranged on a first extending end of a main shaft of the double-output motor, the angle sensor is fixed on the top end of the first extending end of the double-output motor, a second extending end of the main shaft of the double-output motor is connected with the main shaft of the coal mine isolating switch through the flange, a torque sensor is arranged on the main shaft of the coal mine isolating switch between the flange and the coal mine isolating switch, and the limiter is connected on a shell of the double-output motor through the second extending end of the main shaft of the double-output motor;
The direct-drive motor control system for the coal mine isolating switch breaking test also comprises a voltage regulating power supply, a direct-current contactor, a rectifying unit, a capacitor bank, a DSP (digital signal processor), an IGBT (insulated gate bipolar transistor) driving circuit, a bridge driving circuit, a signal amplifying circuit, a signal processing circuit, a control panel, a display driving circuit, a display screen and a current detection unit, wherein the signal output ends of an angle sensor and a torque sensor of the direct-drive motor mechanism for the coal mine isolating switch breaking test are connected with the analog signal input end of the DSP through the signal processing circuit; the input end of the voltage regulating power supply is connected with an external power grid, the output end of the voltage regulating power supply is connected with the input end of the rectifying unit, the positive electrode and the negative electrode of the output end of the rectifying unit are connected with the voltage input end of the direct current contactor, the voltage output end of the direct current contactor is connected with the positive electrode and the negative electrode of the capacitor bank respectively, and the positive electrode and the negative electrode of the capacitor bank are connected with the positive electrode and the negative electrode of the power input end of the bridge type driving circuit respectively; the control signal output end of the DSP is connected with the input ends of the IGBT driving circuit and the signal amplifying circuit, the output end of the signal amplifying circuit is connected with the signal control end of the direct current contactor, the signal output end of the IGBT driving circuit is connected with the control signal input end of the bridge driving circuit, the output end of the control panel is connected with the digital signal input terminal of the DSP, the input end of the display driving circuit is connected with the signal output end of the DSP, the output end of the display driving circuit is connected with the signal input end of the display screen, the measuring end of the current detecting unit is connected with the winding of the direct drive motor mechanism for the coal mine isolating switch breaking test, the signal output end of the voltage detecting unit is connected with the two-phase winding of the direct drive motor mechanism for the coal mine isolating switch breaking test, and the signal output end of the voltage detecting unit is connected with the analog signal input end of the DSP, and the protection signal output end of the DSP is connected with the signal input end of the central control system;
the control method of the direct-drive motor control system for the breaking test of the coal mine isolating switch comprises the following steps:
step 1, initializing a system;
step2, after the system is initialized, charging the capacitor bank 12;
step 3, judging the voltage value of the capacitor bank 12, if the voltage value of the capacitor bank 12 accords with the threshold value, performing step 4, otherwise, returning to step 2;
Step 4, waiting to call a breaking operation program command, if the command is execution entering step 5, if the command is prohibition, returning to step 3;
Step 5, entering a calling breaking operation program, and ending after recording data;
the breaking operation program is executed according to the following steps:
step A: detecting information of the angle sensor 4, judging whether phase change is needed, executing the step B if the phase change is needed, otherwise executing the step C;
And (B) step (B): invoking an IGBT conduction relation and driving signal relation table, changing the state of a power tube, and carrying out phase change on a motor winding;
Step C: judging whether the free movement stage is reached or not according to the feedback value of the torque sensor, if so, executing the step D, and if not, executing the step A;
step D: stopping the output of the control signal, enabling the motor mechanism to move freely, and detecting whether the motor mechanism reaches the end position in real time;
Step E: if the end position is reached, the step F is executed, and the step D is not executed;
step F: the motor mechanism is electrically braked;
step G: returning;
the control method of the direct-drive motor control system for the breaking test of the coal mine isolating switch further comprises the following steps:
Removing interference data: the DSP collects position signals fed back by the angle sensor, performs difference operation on the position signals collected each time and the previous signal from the second position signals to obtain a position change rate, compares the position signals with the previous position change rate from the second position change rate, and judges the position signals to be interference data and eliminates the interference data if the comparison result is too threshold.
2. The direct-drive motor control system for breaking test of coal mine isolating switch as claimed in claim 1, wherein: the double-output motor is a permanent magnet brushless direct current motor.
3. The direct-drive motor control system for breaking test of coal mine isolating switch as claimed in claim 1, wherein: the DSP is the minimum system of the DSP.
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| CN201811545257.XA CN109510424B (en) | 2018-12-17 | 2018-12-17 | Direct-drive motor mechanism for breaking test of coal mine isolating switch and control system thereof |
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