CN110085479A - Contactor based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method - Google Patents
Contactor based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method Download PDFInfo
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- CN110085479A CN110085479A CN201910467400.6A CN201910467400A CN110085479A CN 110085479 A CN110085479 A CN 110085479A CN 201910467400 A CN201910467400 A CN 201910467400A CN 110085479 A CN110085479 A CN 110085479A
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- contactor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H2047/009—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current with self learning features, e.g. measuring the attracting current for a relay and memorising it
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Abstract
The present invention relates to a kind of contactors based on fuzzy logic just to have closed speed gradually closed loop automatic correction controling method.The contactor neural network model under closed-loop current control is established using artificial neural network, by the coil current and coil voltage that detect contactor, the real-time displacement and speed of dynamic iron core are calculated, is laid the foundation for the dynamic iron core velocity close-loop control of Speedless sensor；Fuzzy logic control is introduced later, using the dynamic iron core speed that neural network exports as negative-feedback, it gradually adjusts and starts the strong excitation time, make speed at instant of contacts touch ing by approaching given value after multiple starting process self-correcting, by setting a lesser rigid conjunction speed reference, the Impact energy of dynamic/static contact can be reduced.The present invention carries out direct closed loop feedback control by moving iron core speed to contactor and realizes the control to contact bounce.
Description
Technical field
The present invention relates to a kind of contactors based on fuzzy logic just to have closed speed gradually closed loop automatic correction controling method.
Background technique
Contactor is widely used in various industrial control fields, and performance indicator directly affects the peace of entire control system
Entirely, stablize.In recent years, in contactor field of intelligent control, domestic and foreign scholars have done a large amount of research work, significantly improve
The performance of contactor, contactor intelligent control scheme common at present are as follows:
1, the control program that contactor high voltage direct current starts, low-voltage direct is kept, changes the excitation side of A.C. contactor
Formula, from ac operation to DC operation；
2, contactor PWM close-loop control scheme, using improved Buck topology as coil driver, with coil electricity
Pressure or coil current make contactor control technology enter closed loop from open loop as feedback signal；
3, dynamic iron core real-time displacement is estimated according to excitation voltage, excitation current and simplified magnetic circuit parameters, realize contact
Device is displaced closed-loop control, reduces the contact bounce in starting process；Further offset estimation Technique Popularizing to permanent magnetism is contacted
In the intelligent control of device, displacement subsection PWM control is realized；
4, using current scanning mode, optimal contactor starting current curve is found, realizes A.C. contactor starting
Process Self-correc ting control reduces contact bounce；
5, coil current slope close-loop control scheme detects electric current drop slope in contactor starting process, is formed oblique
The double-closed-loop control structure of rate outer loop control current inner loop, and then reduce contact bounce；
6, the kinetics equation for establishing permanent magnet contactor motion profile explores what contactor spring occurred by model solution
Mathematics mechanism, amplitude and action time to contactor driving voltage carry out Model Predictive Control, and contactor spring is effectively reduced
Caused impact of shoving；
7, that establishes contactor drives topology without capacitor shield coil, and combines contactor closed-loop current control technology, is being attracted
Magnetic linkage variable is introduced in the process, realizes that the contactor starting process contact bounce under Width funtion inhibits.
The above intelligent control scheme is mostly that can reflect that contactor moves the electromagnetic parameter of iron core speed indirectly by controlling,
To inhibit contact bounce indirectly, and iron core speed is moved to contactor carries out the technology of direct closed loop feedback control and be not reported.
Summary of the invention
The purpose of the present invention is to provide a kind of contactors based on fuzzy logic just to have closed speed gradually closed loop self-tuning control
Method processed carries out direct closed loop feedback control by moving iron core speed to contactor and realizes the control to contact bounce
To achieve the above object, the technical scheme is that a kind of contactor based on fuzzy logic just closed speed by
Secondary closed loop automatic correction controling method, firstly, establishing the contactor neural network under closed-loop current control using artificial neural network
Model, by detecting the coil current and coil voltage of contactor, to calculate the real-time displacement and speed of dynamic iron core；Then, draw
Enter fuzzy logic control, using the dynamic iron core speed that neural network exports as negative-feedback, gradually adjusts and start the strong excitation time, make
Speed at instant of contacts touch ing just closes speed reference by approaching given dynamic iron core after multiple starting process self-correcting, reduces sound touching
The Impact energy of head, and then realize and contact bounce is directly controlled.
In an embodiment of the present invention, this method be applied to the contactor based on fuzzy logic just closed speed gradually closed loop from
In corrective control.
In an embodiment of the present invention, the contactor based on fuzzy logic has just closed speed gradually closed loop Self-correc ting control
System, including contactor coil driving circuit, digitial controller, the method are applied particularly in digitial controller, to realize
Control to contactor coil driver.
In an embodiment of the present invention, the contactor coil driving circuit includes voltage source, first to fourth rectification two
Pole pipe, input filter capacitor, electronic power switch, contactor coil, freewheeling diode, coil current sensor；The number
Controller includes process control unit, closed-loop current control unit, magnetic linkage computing unit, contact closure detection unit, obscures and patrol
It collects controller, just closed speed computing unit, contactor ANN model unit.
In an embodiment of the present invention, the working method of the contactor coil driving circuit are as follows: electronic power switch is led
When logical, the voltage after the rectifier bridge rectifying and wave-filtering that voltage source is formed through first to fourth rectifier diode is applied to contactor coil
Both ends make coil current rapid increase；When electronic power switch is closed and contactor coil electric current is not zero, contactor coil electricity
Stream is declined by freewheeling diode afterflow；Electric power is controlled by contactor coil current reference value and the error of current feedback values
Controllable coil current excitation curve can be obtained in the duty ratio of electronic switch.
In an embodiment of the present invention, the working method of the digitial controller are as follows: process control unit receives kth time
After starting command on, according to starting current value is, as secondary strong excitation action time ts(k), add starting current action time tp, protect
Hold current value ih, to determine as secondary current reference curve iref(k), iref(k)Coupling coil current sensor V2Real-time detection connects
Tentaculum coil current value icoil(k), it is sent into closed-loop current control unit, switching drive signal S is exported after Hysteresis controlpwm, control
Electronic power switch S processed1Duty ratio, so that the coil current closed-loop control of holding process is arrived in the starting for completing contactor；When connecing
After receiving disjunction order off, by reference current value iref(k)It is set as -1, the disjunction of contactor can be completed；Coil excitation voltage
ucoil(k)And coil excitation electric current icoil(k)It is sent into magnetic linkage computing unit, calculates Electromagnetic System of Contactor magnetic linkage Ψ(k), Ψ(k)With
icoil(k)It is sent into the contactor ANN model unit established and have contactor neural network model simultaneously, through neural computing, output
Dynamic iron core displacement x(k), the x in contact closure detection unit(k)With clearance between open contacts value xcCompare, for capturing dynamic/static contact closure
Moment tc(k), tc(k)With x(k)It is sent into and just closes speed computing unit, export the rigid conjunction speed v of dynamic/static contactc(k), vc(k)With dynamic iron core
Just close speed reference vrefIt is sent into fuzzy logic controller, the strong excitation action time after Fuzzy Calculation, after output calibration
ts(k+1), for correcting contactor starting process next time, while contact closure detection unit once detects that dynamic/static contact closes
It closes, then applies t to contactor by forcepIt the additional strong excitation action time of duration, prevents contactor from rebounding, guarantees its reliable suction
It closes；By in multiple starting process successive correction strong excitation action time to control the rigid conjunction speed tend to given value, thus
Achieve the purpose that inhibit contact bounce.
In an embodiment of the present invention, the vc(k)Speed reference v has just been closed with dynamic iron corerefIt is sent into fuzzy logic control
After device, fuzzy logic controller is executed: as secondary speed at instant of contacts touch ing vc(k)And dynamic iron core has just closed speed reference vrefInput mould
The subtracter of fuzzy logic controller obtains error speed ec(k), while ec(k)Error rate △ e is obtained through Difference Calculationc(k),
Later to ec(k)And △ ec(k)Fuzzy processing is carried out, according to fuzzy logic ordination table, carries out fuzzy reasoning, last ambiguity solution is defeated
Starting time incremental value △ t outs(k), △ ts(k)With ts(k)The adder of input fuzzy logic controller obtains ts(k+1), ts(k+1)With
In the starting strong excitation time of correction next time.
Compared to the prior art, the invention has the following advantages: the method for the present invention is by moving iron core speed to contactor
Degree carries out direct closed loop feedback control to realize the control to contact bounce.
Detailed description of the invention
Fig. 1 is that the present invention is based on the contactors of fuzzy logic controller just to have closed speed gradually closed loop Self-correc ting control principle
Figure.
Fig. 2 is fuzzy logic controller schematic diagram of the present invention.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is specifically described.
The present invention provides a kind of contactors based on fuzzy logic just to have closed speed gradually closed loop automatic correction controling method, adopts
The manually contactor neural network model under neural network closed-loop current control, by the coil current for detecting contactor
And coil voltage is beaten to calculate the real-time displacement and speed of dynamic iron core for the dynamic iron core velocity close-loop control of Speedless sensor
Lower basis；Fuzzy logic control is introduced later, using the dynamic iron core speed that neural network exports as negative-feedback, is gradually adjusted and is started
The strong excitation time, make speed at instant of contacts touch ing by approaching given value after multiple starting process self-correcting, it is one smaller by setting
Rigid conjunction speed reference, the Impact energy of dynamic/static contact can be reduced, and then more direct control is carried out to contact bounce.
The method of the present invention is illustrated below in conjunction with physical circuit.
The present invention is based on the contactors of fuzzy logic controller just to have closed speed gradually closed loop Self-correc ting control principle such as Fig. 1 institute
Show, is integrally divided into contactor coil driving circuit and digitial controller two parts.
The composition of coil driver is as follows: V1For voltage source, it is used as input power；D1、D2、D3、D4For rectifier diode,
Form input rectifying bridge；C1For input filter capacitor；S1For electronic power switch, copped wave is carried out to the voltage after rectifying and wave-filtering；
Coil is contactor coil, is sealed in driving circuit；D5For freewheeling diode；V2For coil current sensor.S1It is whole when conducting
It flows filtered voltage and is applied to coil both ends, coil current rapid increase can be made；S1It closes and coil current is when being not zero, line
Loop current passes through D5Afterflow decline；S is controlled by coil current reference value and the error of current feedback values1Duty ratio
Obtain flexibly controllable coil current excitation curve.
The composition of digitial controller is as follows:
After process control unit receives kth time starting command on, according to starting current value is, when the effect of secondary strong excitation
Between ts(k), add starting current action time tp, keep current value ih, to determine as secondary current reference curve iref(k), iref(k)
In conjunction with V2The coil current value i of real-time detectioncoil(k), it is sent into closed-loop current control unit, the output switch driving after Hysteresis control
Signal Spwm, control S1Duty ratio, so that the coil current closed-loop control of holding process is arrived in the starting for completing contactor；Work as reception
To after disjunction order off, by reference current value iref(k)It is set as -1 (there is better interference free performance than being set as 0), can be completed
The disjunction of contactor.Contactor coil closed-loop current control not only increases the flexibility and safety of excited magnetic control, while
The consistency of contactor acting characteristic in wide-voltage range is improved, is provided in basis for more complicated intelligent control scheme
Ring.
Coil excitation voltage ucoil(k)And coil excitation electric current icoil(k)It is sent into magnetic linkage computing unit, calculates electromagnetic contactor
System magnetic linkage Ψ(k), Ψ(k)With icoil(k)It is sent into contactor ANN model unit simultaneously, through neural computing, exports dynamic iron core
Displacement x(k), the x in contact closure detection unit(k)With clearance between open contacts value xcCompare, for capturing dynamic/static contact closing moment
tc(k), tc(k)With x(k)It is sent into and just closes speed computing unit, export the rigid conjunction speed v of dynamic/static contactc(k), vc(k)It has just been closed with dynamic iron core
Speed reference vrefIt is sent into fuzzy logic controller, the strong excitation action time t after Fuzzy Calculation, after output calibrations(k+1),
For correcting contactor starting process next time, while contact closure detection unit once detects that dynamic/static contact is closed, then by force
Row applies t to contactorpIt the additional strong excitation action time of duration, prevents contactor from rebounding, guarantees its reliable actuation.By
Successive correction strong excitation action time tends to given value to control the rigid conjunction speed in multiple starting process, to reach inhibition touching
The purpose of head spring.
The concrete principle of fuzzy logic controller is as shown in Figure 2: as secondary speed at instant of contacts touch ing vc(k)And reference velocity vref
Input subtracter A1, obtain error speed ec(k), while ec(k)Error rate △ e is obtained through Difference Calculationc(k), later to ec(k)
And △ ec(k)Fuzzy processing is carried out, according to fuzzy logic ordination table, carries out fuzzy reasoning, last ambiguity solution, when output starts
Between incremental value △ ts(k), △ ts(k)With ts(k)Input summer A2Obtain ts(k+1), ts(k+1)Starting for correcting next time swashs by force
The magnetic time.Therefore the input of fuzzy controller core is ec(k)And △ ec(k), export as △ ts(k), it is a typical dual input list
Export (DISO) Fuzzy control system.
One feasible fuzzy logic ordination table is as shown in table 1:
1 fuzzy logic ordination table of table
Input language variable ec(k), △ ec(k)Language value set be all { NL, NS, Z, PS, PL }, i.e., it is negative big, bear it is small,
Zero, just small, honest }, output language variable △ ts(k)Language value set be equally set as { NL, NS, Z, PS, PL }, according to control
Experience constructs 25 fuzzy rules, and the rule list is with uniformity, continuity and completeness, provides for continuous export of controller
It ensures.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made
When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.
Claims (7)
1. a kind of contactor based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method, which is characterized in that firstly,
The contactor neural network model under closed-loop current control is established using artificial neural network, by the coil electricity for detecting contactor
Stream and coil voltage, to calculate the real-time displacement and speed of dynamic iron core；Then, fuzzy logic control is introduced, it is defeated with neural network
Dynamic iron core speed out gradually adjusts as negative-feedback and starts the strong excitation time, makes speed at instant of contacts touch ing by repeatedly starting
Given dynamic iron core is approached after journey self-correcting and just closes speed reference, reduces the Impact energy of dynamic/static contact, and then realize to touching
Head spring directly controls.
2. the contactor according to claim 1 based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method,
It is characterized in that, this method, which is applied to the contactor based on fuzzy logic, has just closed speed gradually in closed loop self-aligning control system.
3. the contactor according to claim 2 based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method,
It is characterized in that, the contactor based on fuzzy logic has just closed speed gradually closed loop self-aligning control system, including contactor
Coil driver, digitial controller, the method are applied particularly in digitial controller, to realize to contactor coil drive
The control of circuit.
4. the contactor according to claim 3 based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method,
It is characterized in that, the contactor coil driving circuit includes voltage source, first to fourth rectifier diode, input filter electricity
Appearance, electronic power switch, contactor coil, freewheeling diode, coil current sensor；The digitial controller included program-controlled
Unit processed, magnetic linkage computing unit, contact closure detection unit, fuzzy logic controller, just closes speed at closed-loop current control unit
Computing unit, contactor ANN model unit.
5. the contactor according to claim 4 based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method,
It is characterized in that, the working method of the contactor coil driving circuit are as follows: when electronic power switch is connected, voltage source is through first
Voltage after the rectifier bridge rectifying and wave-filtering formed to the 4th rectifier diode is applied to contactor coil both ends, keeps coil current fast
Speed rises；When electronic power switch is closed and contactor coil electric current is not zero, contactor coil electric current passes through freewheeling diode
Afterflow decline；The duty of electronic power switch is controlled by contactor coil current reference value and the error of current feedback values
Than controllable coil current excitation curve can be obtained.
6. the contactor according to claim 4 based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method,
It is characterized in that, the working method of the digitial controller are as follows: after process control unit receives kth time starting command on, root
According to starting current value is, as secondary strong excitation action time ts(k), add starting current action time tp, keep current value ih, come true
Settled current reference curve iref(k), iref(k)Coupling coil current sensor V2The contactor coil current value of real-time detection
icoil(k), it is sent into closed-loop current control unit, switching drive signal S is exported after Hysteresis controlpwm, control electronic power switch S1
Duty ratio, so that the coil current closed-loop control of holding process is arrived in the starting for completing contactor；When receiving disjunction order off
Afterwards, by reference current value iref(k)It is set as -1, the disjunction of contactor can be completed；Coil excitation voltage ucoil(k)And coil excitation
Electric current icoil(k)It is sent into magnetic linkage computing unit, calculates Electromagnetic System of Contactor magnetic linkage Ψ(k), Ψ(k)With icoil(k)It is sent into foundation simultaneously
There is the contactor ANN model unit of contactor neural network model, through neural computing, exports dynamic iron core displacement x(k), touching
X in head occlusion detection unit(k)With clearance between open contacts value xcCompare, for capturing dynamic/static contact closing moment tc(k), tc(k)With x(k)It send
Enter and just close speed computing unit, exports the rigid conjunction speed v of dynamic/static contactc(k), vc(k)Speed reference v has just been closed with dynamic iron corerefIt send
Enter fuzzy logic controller, the strong excitation action time t after Fuzzy Calculation, after output calibrations(k+1), for correcting next time
Contactor starting process, while contact closure detection unit once detects that dynamic/static contact is closed, then applies by force to contactor
tpIt the additional strong excitation action time of duration, prevents contactor from rebounding, guarantees its reliable actuation；By in multiple starting process
Successive correction strong excitation action time controls the rigid conjunction speed and tends to given value, to achieve the purpose that inhibit contact bounce.
7. the contactor according to claim 6 based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method,
It is characterized in that, the vc(k)Speed reference v has just been closed with dynamic iron corerefAfter being sent into fuzzy logic controller, fuzzy logic control
Device executes: as secondary speed at instant of contacts touch ing vc(k)And dynamic iron core has just closed speed reference vrefInput fuzzy logic controller subtracts
Musical instruments used in a Buddhist or Taoist mass obtains error speed ec(k), while ec(k)Error rate △ e is obtained through Difference Calculationc(k), later to ec(k)And △ ec(k)
Fuzzy processing is carried out, according to fuzzy logic ordination table, carries out fuzzy reasoning, last ambiguity solution exports starting time incremental value
△ts(k), △ ts(k)With ts(k)The adder of input fuzzy logic controller obtains ts(k+1), ts(k+1)For correcting next time
Move the strong excitation time.
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| CN201910467400.6A CN110085479B (en) | 2019-05-31 | 2019-05-31 | Fuzzy logic-based successive closed-loop self-correction control method for just-closing speed of contactor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110853980A (en) * | 2019-12-05 | 2020-02-28 | 福州大学 | Self-adaptive suppression method for high-frequency holding noise of electromagnetic switch |
| CN111580436A (en) * | 2020-05-25 | 2020-08-25 | 福州大学 | Contactor flux linkage closed-loop control method based on state observer |
| CN113270293A (en) * | 2021-05-19 | 2021-08-17 | 福州大学 | Single-magnetic-chain closed-loop self-correction control device and method for contactor |
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