CN111580436A - Contactor flux linkage closed-loop control method based on state observer - Google Patents
Contactor flux linkage closed-loop control method based on state observer Download PDFInfo
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Abstract
The invention provides a contactor flux linkage closed-loop control method based on a state observer, wherein in the starting process and the holding process of a contactor, flux linkage data of the contactor are observed by the flux linkage state observer, and the current of the contactor is controlled according to an observation result; the invention adopts a double closed loop control structure of the flux linkage outer loop to control the current inner loop, thereby not only overcoming the defect of the single current closed loop maintaining process, but also further improving the flexibility of the optimized control of the starting process of the contactor.
Description
Technical Field
The invention relates to the technical field of electromagnetic control, in particular to a contactor flux linkage closed-loop control method based on a state observer.
Background
The contactor is used as a common electromagnetic switch in an industrial system and a power distribution system, the consumption is very large, and the performance index directly influences the safety and the stability of the whole control system. The conventional contactor has problems in operation, such as: the contactor is sensitive to voltage drop, is easily subjected to the influence of the voltage fluctuation of a power grid to cause the mistaken breaking of the contact, and influences the operation reliability of the contactor in a continuous production system of petroleum and the like; the working voltage range is narrow, and the iron core can generate continuous vibration under the critical pull-in voltage, so that the contact is welded; the temperature rise of the coil of the contactor is too high under frequent operation, and the service life of the coil and the performance of the contactor are influenced.
In recent years, scholars at home and abroad propose various intelligent control schemes for contactors, and compared with the current control scheme, the direct closed-loop control on the coil current of the contactor has the advantages that: the current of the coil is directly used as feedback control quantity, the device has the characteristic of natural current limiting, and can flexibly adjust the starting excitation ampere-turn when being applied to a large-capacity contactor with small coil resistance, so that the overcurrent and short circuit of the coil are avoided; the starting process can be optimally controlled by flexibly adjusting a starting current curve in the starting process; the current of the coil is continuously controllable all the time, the condition that the current is cut off suddenly can not occur, and the overvoltage of the coil operation is avoided. Although there are many advantages to the current closed loop, there are significant drawbacks in the retention process: when energy-saving silent holding is carried out, once the influence of external vibration or impact causes the air gap between a moving iron core and a static iron core to be suddenly and slightly increased, the coil holding current is forced to rise and is larger than the holding reference current, the current closed loop enters 'vicious circle', the holding current duty ratio is rapidly adjusted to 0, the breaking of the contactor is aggravated, and the holding reliability of the intelligent contactor in severe application environments such as locomotives, ships and the like is seriously influenced.
In view of the defect of the current closed-loop control of the contactor, the invention provides flux linkage closed-loop control, a flux linkage state observer is constructed to observe flux linkage values in the starting and maintaining processes, and then a double closed-loop control structure of a flux linkage outer ring control current inner ring is adopted, so that the defect of the single current closed-loop maintaining process is overcome, and the flexibility of the optimized control of the starting process of the contactor is further improved.
Disclosure of Invention
The invention provides a contactor flux linkage closed-loop control method based on a state observer, which adopts a double closed-loop control structure of a flux linkage outer ring control current inner ring, overcomes the defect of an independent current closed-loop maintaining process, and further improves the flexibility of optimized control in the starting process of a contactor.
The invention adopts the following technical scheme.
The contactor flux linkage closed-loop control method based on the state observer observes flux linkage data of the contactor through the flux linkage state observer in the starting process and the holding process of the contactor and controls the current of the contactor according to the observation result.
In the starting process of the contactor, a flux linkage state observer obtains flux linkage data by adopting an open-loop observation method based on a voltage integral flux linkage observer; in the stable contactor keeping process, a flux linkage state observer adopts a closed-loop observation method based on a flux linkage closed-loop state observer to obtain flux linkage data; in the control method, the open-loop observation method and the closed-loop observation method are switched steadily according to the progress of the control process of the contactor; in the control method, the excitation state of the contactor coil is controlled by controlling the contactor coil current so as to optimally control the dynamic work of the contactor.
The starting time of the contactor is less than 100 ms; in an open-loop observation method for the starting process of the contactor, calculating data of flux linkage by adopting a formula (1);
in the formula (1), the coil voltage u is detectedcoilCoil current icoilRear combined contactor coil resistor RcoilPerforming integral calculation to obtain data psi of flux linkage in the starting process; t is t0For the starting time of the contactor, psi, ucoil，icoilAt t0The initial states of the time are all 0; the starting flux linkage can be described as
In the closed-loop observation method for a stable contactor holding process, the flux linkage of the contactor coil magnetic circuit satisfies the following formula (2):
ψ＝Licoil(2)
the magnetic circuit voltage balance equation of the contactor is expressed by formula (3):
combining the formula (2) and the formula (3) to derive the formula (4)
In the formula (4), the coil magnetic circuit in the contactor stable holding process is regarded as a constant inductance resistance load to be calculated; u. ofcoilIs a coil current, RcoilIs coil resistance, psi is magnetic flux linkage, and L is magnetic inductance;
deducing and obtaining a state space expression of the contactor stable maintaining process
In the formula:
is the differential of the flux linkage.
In the state space expression of the contactor stable holding process, ucoilAs input, icoilAs an output, with psi as the state variable, one and the same a ═ R can be consideredcoilThe contactor control system comprises a one-dimensional linear constant system with single input and single output, wherein the one-dimensional linear constant system is 1/L, B and 1/L C, real-time solving application is carried out by the one-dimensional linear constant system, and a closed-loop flux linkage state observer applied to a contactor stable maintaining process is constructed by using input variables and output variables;
the closed-loop flux linkage state observer applied to the stable holding process of the contactor utilizes the system output parameter icoilUsing coil current observations
With the actual value icoilError-to-closed loop correction of state variable observations
To improve the performance of the observer.
The flux linkage closed loop state observer applied to the stable holding process of the contactor uses the actually measured ucoil、icoilFor observer input, a feedback matrix E is added on the basis of an open-loop state observer, so as to
And icoilIs input to the observed flux linkage during the hold
Performing closed loop correction to
The actual value can be approached quickly.
The device used by the contactor flux linkage closed-loop control method comprises a coil driving circuit and an embedded control system;
the coil drive circuit comprises a rectifier bridge D1Is a filter capacitor C1The rectifying module of (2); the rectifier module is connected with an input power supply, converts the input voltage into stable direct-current voltage and outputs the stable direct-current voltage to the contactor coil, so that the contactor coil works;
the coil drive circuit further comprises an electronic switch S1、S4And a fast recovery diode D2、D3(ii) a The electronic switch performs PWM control on the rectified and filtered direct-current voltage so as to control the polarity of the voltage applied to the contactor coil;
the coil driving circuit controls the polarity of voltage applied to the contactor coil to enable the contactor coil circuit to work in a +1 state, a-1 state and a 0 state;
when the contactor coil circuit works in +1 state, S1、S4Meanwhile, the direct voltage after rectification and filtration is applied to two ends of the coil, so that the current of the coil of the contactor rises rapidly, and the flux linkage is enhanced rapidly;
when the contactor coil circuit worksIn the 1 state, the coil current is not zero at this time, S1、S4Simultaneously turned off and coil current passed through D2、D3Directional filter capacitor C1Feeding back energy, wherein negative voltage of a capacitor is applied to two ends of a coil to force the coil to demagnetize rapidly;
when the contactor coil circuit works in 0 state, the two ends of the coil bear negative D3And S4The tube voltage drop is close to 0V, and the electronic switch only has S4Conducting, coil current passing through D3、S4Follow current, and the current of the coil slowly decreases;
the embedded control system detects the current of the coil of the contactor through a current sensor and detects the voltage of the coil of the contactor through a voltage sensor.
The embedded control system comprises a process control module, a topology control module, an observer selector switch, a flux linkage outer ring control module adopting a hysteresis control principle and a current inner ring control module adopting the hysteresis control principle; the process control module is connected with the magnetic linkage outer ring control module; the flux linkage outer ring control module is connected with the current inner ring control module; the input end of the observer change-over switch is connected with the flux linkage outer ring control module and the current inner ring control module, and the output end of the observer change-over switch is connected with the flux linkage outer ring control module; the current inner ring control module is connected with an electronic switch S1The topology control module outputs PWM signals, and the output end of the topology control module and the electronic switch S4Connecting;
when the embedded control system works, the detected coil voltage ucoilCoil current icoilSimultaneously sending the voltage integral flux linkage observer and the flux linkage closed-loop observer to observe flux linkage in the starting process respectively
And maintaining flux linkage during process
The process control module of the embedded control system controls the contactor to start and protect according to the time sequence requirementHolding and dividing processes in which different flux linkage reference values psi can be setref；
The observer selector switch of the embedded control system is responsible for switching two observers to synthesize flux linkage observed values of the whole process
The topology control module determines whether to switch the switching tube S according to the action signal of the observer switch4Set to a normally on state.
The software strategy of the embedded control system is divided into a starting process, a holding process and a breaking process according to a control time sequence; the process control module enables the embedded control system to work according to different software strategies according to the control instruction; observer diverter switch selection when the embedded control system executes a software strategy for the startup process
ψrefAnd
controlling a reference value i of a current inner loop control module through hysteresis comparison of a flux linkage outer loop control modulerefAt a current maximum value imaxAnd 0, after irefAnd icoilThrough hysteresis comparison of the current inner loop control module, output signals PWM1 and PWM4, PWM1 control S1The topology control module directly uses the PWM4 signal to control S during startup4The on-off state of the contactor is changed between a +1 state and a-1 state to quickly reach the reference current, so that the magnetic flux linkage of the magnetic circuit of the contactor coil is equal to the starting flux linkage reference value;
psi when the embedded control system implements the software strategy of the maintenance procedurerefIs set to a hold value, and the observer switches are still selected
And is combined with psirefStagnant-ring ratioTo control iref，irefAnd icoilHysteresis comparison, control circuit state switching between +1 state and-1 state to quickly reach psirefObserver switch selection after magnetic flux linkage equals to holding flux linkage reference value
Connecting the flux linkage closed-loop observer into a flux linkage outer ring control module to keep the flux linkage observer stably connected, detecting a switching signal of an observer switch by a topology control module, and switching S4The circuit state of the coil of the contactor is switched between a +1 state and a 0 state to maintain the constant current dynamic state of the coil, reduce the conduction period number of the electronic switch, reduce the loss and better save energy;
when the embedded control system executes a software strategy of a breaking process, the process control module directly controls the current inner ring to set PWM1 and PWM4 to be 0, and the topology control module is matched to rapidly set the circuit state to be-1 state, so that the electromagnetic coil of the contactor is rapidly demagnetized, and the contactor is broken.
The invention overcomes the defect of the single current closed loop maintaining process and further improves the flexibility of the optimal control of the starting process of the contactor.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic diagram of a starting process voltage integral flux linkage state observer;
FIG. 2 is a schematic diagram of a closed-loop flux linkage state observer during a contactor coil holding process;
fig. 3 is a schematic diagram of the principle of closed-loop control of contactor flux linkage.
Detailed Description
As shown in fig. 1 to 3, a contactor flux linkage closed-loop control method based on a state observer observes flux linkage data of a contactor through a flux linkage state observer during a contactor starting process and a contactor holding process, and controls a contactor current according to the observation result.
In the starting process of the contactor, a flux linkage state observer obtains flux linkage data by adopting an open-loop observation method based on a voltage integral flux linkage observer; in the stable contactor keeping process, a flux linkage state observer adopts a closed-loop observation method based on a flux linkage closed-loop state observer to obtain flux linkage data; in the control method, the open-loop observation method and the closed-loop observation method are switched steadily according to the progress of the control process of the contactor; in the control method, the excitation state of the contactor coil is controlled by controlling the contactor coil current so as to optimally control the dynamic work of the contactor.
The starting time of the contactor is less than 100 ms; in an open-loop observation method for the starting process of the contactor, calculating data of flux linkage by adopting a formula (1);
in the formula (1), the coil voltage u is detected as shown in FIG. 1coilCoil current icoilRear combined contactor coil resistor RcoilPerforming integral calculation to obtain data psi of flux linkage in the starting process; t is t0For the starting time of the contactor, psi, ucoil，icoilAt t0The initial states of the time are all 0; the starting flux linkage can be described as
In the closed-loop observation method for a stable contactor holding process, the flux linkage of the contactor coil magnetic circuit satisfies the following formula (2):
ψ＝Licoil(2)
the magnetic circuit voltage balance equation of the contactor is expressed by formula (3):
combining the formula (2) and the formula (3) to derive the formula (4)
As shown in fig. 2, in the formula (4), the coil magnetic circuit during the contactor steady holding process is calculated as a constant inductance resistance load; u. ofcoilIs a coil current, RcoilIs coil resistance, psi is magnetic flux linkage, and L is magnetic inductance; deducing and obtaining a state space expression of the contactor stable maintaining process
In the formula:
is the differential of the flux linkage.
In the state space expression of the contactor stable holding process, ucoilAs input, icoilAs an output, with psi as the state variable, one and the same a ═ R can be consideredcoilThe contactor control system comprises a one-dimensional linear constant system with single input and single output, wherein the one-dimensional linear constant system is 1/L, B and 1/L C, real-time solving application is carried out by the one-dimensional linear constant system, and a closed-loop flux linkage state observer applied to a contactor stable maintaining process is constructed by using input variables and output variables;
the closed-loop flux linkage state observer applied to the stable holding process of the contactor utilizes the system output parameter icoilUsing coil current observations
With the actual value icoilError-to-closed loop correction of state variable observations
To improve the performance of the observer.
The flux linkage closed loop state observer applied to the stable holding process of the contactor uses the actually measured ucoil、icoilFor observer input, adding on the basis of open-loop state observerAdding a feedback matrix E to
And icoilIs input to the observed flux linkage during the hold
Performing closed loop correction to
The actual value can be approached quickly.
As shown in fig. 3, the device used in the contactor flux linkage closed-loop control method comprises a coil driving circuit and an embedded control system;
the coil drive circuit comprises a rectifier bridge D1Is a filter capacitor C1The rectifying module of (2); the rectifier module is connected with an input power supply, converts the input voltage into stable direct-current voltage and outputs the stable direct-current voltage to the contactor coil, so that the contactor coil works;
the coil drive circuit further comprises an electronic switch S1、S4And a fast recovery diode D2、D3(ii) a The electronic switch performs PWM control on the rectified and filtered direct-current voltage so as to control the polarity of the voltage applied to the contactor coil;
the coil driving circuit controls the polarity of voltage applied to the contactor coil to enable the contactor coil circuit to work in a +1 state, a-1 state and a 0 state;
when the contactor coil circuit works in +1 state, S1、S4Meanwhile, the direct voltage after rectification and filtration is applied to two ends of the coil, so that the current of the coil of the contactor rises rapidly, and the flux linkage is enhanced rapidly;
when the contactor coil circuit works in a-1 state, the coil current is not zero, S1、S4Simultaneously turned off and coil current passed through D2、D3Directional filter capacitor C1Feeding back energy, wherein negative voltage of a capacitor is applied to two ends of a coil to force the coil to demagnetize rapidly;
when contactor coil circuit workerIn the 0 state, the two ends of the coil bear negative D3And S4The tube voltage drop is close to 0V, and the electronic switch only has S4Conducting, coil current passing through D3、S4Follow current, and the current of the coil slowly decreases;
the embedded control system detects the current of the coil of the contactor through a current sensor and detects the voltage of the coil of the contactor through a voltage sensor.
The embedded control system comprises a process control module, a topology control module, an observer selector switch, a flux linkage outer ring control module adopting a hysteresis control principle and a current inner ring control module adopting the hysteresis control principle; the process control module is connected with the magnetic linkage outer ring control module; the flux linkage outer ring control module is connected with the current inner ring control module; the input end of the observer change-over switch is connected with the flux linkage outer ring control module and the current inner ring control module, and the output end of the observer change-over switch is connected with the flux linkage outer ring control module; the current inner ring control module is connected with an electronic switch S1The topology control module outputs PWM signals, and the output end of the topology control module and the electronic switch S4Connecting;
when the embedded control system works, the detected coil voltage ucoilCoil current icoilSimultaneously sending the voltage integral flux linkage observer and the flux linkage closed-loop observer to observe flux linkage in the starting process respectively
And maintaining flux linkage during process
The process control module of the embedded control system controls the contactor to enter the starting, maintaining and breaking processes according to the time sequence requirement, and different flux linkage reference values psi can be set in the different processesref；
The observer selector switch of the embedded control system is responsible for switching two observers to synthesize flux linkage observed values of the whole process
The topology control module determines whether to switch the switching tube S according to the action signal of the observer switch4Set to a normally on state.
The software strategy of the embedded control system is divided into a starting process, a holding process and a breaking process according to a control time sequence; the process control module enables the embedded control system to work according to different software strategies according to the control instruction; observer diverter switch selection when the embedded control system executes a software strategy for the startup process
ψrefAnd
controlling a reference value i of a current inner loop control module through hysteresis comparison of a flux linkage outer loop control modulerefAt a current maximum value imaxAnd 0, after irefAnd icoilThrough hysteresis comparison of the current inner loop control module, output signals PWM1 and PWM4, PWM1 control S1The topology control module directly uses the PWM4 signal to control S during startup4The on-off state of the contactor is changed between a +1 state and a-1 state to quickly reach the reference current, so that the magnetic flux linkage of the magnetic circuit of the contactor coil is equal to the starting flux linkage reference value;
psi when the embedded control system implements the software strategy of the maintenance procedurerefIs set to a hold value, and the observer switches are still selected
And is combined with psirefHysteresis comparison to control iref，irefAnd icoilHysteresis comparison, control circuit state switching between +1 state and-1 state to quickly reach psirefObserver switch selection after magnetic flux linkage equals to holding flux linkage reference value
Connecting the flux linkage closed-loop observer into a flux linkage outer ring control module to keep the flux linkage observer stably connected, detecting a switching signal of an observer switch by a topology control module, and switching S4The circuit state of the coil of the contactor is switched between a +1 state and a 0 state to maintain the constant current dynamic state of the coil, reduce the conduction period number of the electronic switch, reduce the loss and better save energy;
when the embedded control system executes a software strategy of a breaking process, the process control module directly controls the current inner ring to set PWM1 and PWM4 to be 0, and the topology control module is matched to rapidly set the circuit state to be-1 state, so that the electromagnetic coil of the contactor is rapidly demagnetized, and the contactor is broken.
In this example, the external control personnel sends a control instruction of starting, maintaining or breaking of the contactor to the process control module, so that the embedded control system works according to different software strategies, and flux linkage closed-loop control of the starting and maintaining processes of the contactor and rapid demagnetization control of the breaking process can be realized.
Claims (9)
1. A contactor flux linkage closed-loop control method based on a state observer is characterized by comprising the following steps: according to the control method, in the starting process and the holding process of the contactor, flux linkage data of the contactor are observed through a flux linkage state observer, and the current of the contactor is controlled according to an observation result.
2. The state observer-based contactor flux linkage closed-loop control method according to claim 1, wherein: in the starting process of the contactor, a flux linkage state observer obtains flux linkage data by adopting an open-loop observation method based on a voltage integral flux linkage observer; in the stable contactor keeping process, a flux linkage state observer adopts a closed-loop observation method based on a flux linkage closed-loop state observer to obtain flux linkage data; in the control method, the open-loop observation method and the closed-loop observation method are switched steadily according to the progress of the control process of the contactor; in the control method, the excitation state of the contactor coil is controlled by controlling the contactor coil current so as to optimally control the dynamic work of the contactor.
3. The state observer-based contactor flux linkage closed-loop control method according to claim 2, wherein: the starting time of the contactor is less than 100 ms; in an open-loop observation method for the starting process of the contactor, calculating data of flux linkage by adopting a formula (1);
in the formula (1), the coil voltage u is detectedcoilCoil current icoilRear combined contactor coil resistor RcoilPerforming integral calculation to obtain data psi of flux linkage in the starting process; t is t0For the starting time of the contactor, psi, ucoil，icoilAt t0The initial states of the time are all 0; the starting flux linkage can be described as
4. The state observer-based contactor flux linkage closed-loop control method according to claim 3, wherein: in the closed-loop observation method for a stable contactor holding process, the flux linkage of the contactor coil magnetic circuit satisfies the following formula (2):
ψ＝Licoil(2)
the magnetic circuit voltage balance equation of the contactor is expressed by formula (3):
combining the formula (2) and the formula (3) to derive the formula (4)
In the formula (4), the coil magnetic circuit in the contactor stable holding process is regarded as a constant inductance resistance load to be calculated;
ucoilis a coil current, RcoilIs coil resistance, psi is magnetic flux linkage, and L is magnetic inductance;
deducing and obtaining a state space expression of the contactor stable maintaining process
In the formula:
is the differential of the flux linkage.
5. The state observer-based contactor flux linkage closed-loop control method according to claim 4, wherein: in the state space expression of the contactor stable holding process, ucoilAs input, icoilAs an output, with psi as the state variable, one and the same a ═ R can be consideredcoilThe contactor control system comprises a one-dimensional linear constant system with single input and single output, wherein the one-dimensional linear constant system is 1/L, B and 1/L C, real-time solving application is carried out by the one-dimensional linear constant system, and a closed-loop flux linkage state observer applied to a contactor stable maintaining process is constructed by using input variables and output variables;
the closed-loop flux linkage state observer applied to the stable holding process of the contactor utilizes the system output parameter icoilUsing coil current observations
With the actual value icoilError-to-closed loop correction of state variable observations
To improve the performance of the observer.
6. The base of claim 5The closed-loop control method for the flux linkage of the contactor on the state observer is characterized by comprising the following steps of: the flux linkage closed loop state observer applied to the stable holding process of the contactor uses the actually measured ucoil、icoilFor observer input, a feedback matrix E is added on the basis of an open-loop state observer, so as to
And icoilIs input to the observed flux linkage during the hold
Performing closed loop correction to
The actual value can be approached quickly.
7. The state-observer-based contactor flux linkage closed-loop control method according to claim 6, wherein: the device used by the contactor flux linkage closed-loop control method comprises a coil driving circuit and an embedded control system;
the coil drive circuit comprises a rectifier bridge D1Is a filter capacitor C1The rectifying module of (2); the rectifier module is connected with an input power supply, converts the input voltage into stable direct-current voltage and outputs the stable direct-current voltage to the contactor coil, so that the contactor coil works;
the coil drive circuit further comprises an electronic switch S1、S4And a fast recovery diode D2、D3(ii) a The electronic switch performs PWM control on the rectified and filtered direct-current voltage so as to control the polarity of the voltage applied to the contactor coil;
the coil driving circuit controls the polarity of voltage applied to the contactor coil to enable the contactor coil circuit to work in a +1 state, a-1 state and a 0 state;
when the contactor coil circuit works in +1 state, S1、S4Simultaneously conducting, applying the rectified and filtered forward voltage to two ends of the coil to make contactThe current of the coil of the device rises rapidly, and the flux linkage is strengthened rapidly;
when the contactor coil circuit works in a-1 state, the coil current is not zero, S1、S4Simultaneously turned off and coil current passed through D2、D3Directional filter capacitor C1Feeding back energy, wherein negative voltage of a capacitor is applied to two ends of a coil to force the coil to demagnetize rapidly;
when the contactor coil circuit works in 0 state, the two ends of the coil bear negative D3And S4The tube voltage drop is close to 0V, and the electronic switch only has S4Conducting, coil current passing through D3、S4Follow current, and the current of the coil slowly decreases;
the embedded control system detects the current of the coil of the contactor through a current sensor and detects the voltage of the coil of the contactor through a voltage sensor.
8. The state-observer-based contactor flux linkage closed-loop control method according to claim 7, wherein: the embedded control system comprises a process control module, a topology control module, an observer selector switch, a flux linkage outer ring control module adopting a hysteresis control principle and a current inner ring control module adopting the hysteresis control principle; the process control module is connected with the magnetic linkage outer ring control module; the flux linkage outer ring control module is connected with the current inner ring control module; the input end of the observer change-over switch is connected with the flux linkage outer ring control module and the current inner ring control module, and the output end of the observer change-over switch is connected with the flux linkage outer ring control module; the current inner ring control module is connected with an electronic switch S1The topology control module outputs PWM signals, and the output end of the topology control module and the electronic switch S4Connecting;
when the embedded control system works, the detected coil voltage ucoilCoil current icoilSimultaneously sending the voltage integral flux linkage observer and the flux linkage closed-loop observer to observe flux linkage in the starting process respectively
And safeguardMagnetic linkage in the process of holding
The process control module of the embedded control system controls the contactor to enter the starting, maintaining and breaking processes according to the time sequence requirement, and different flux linkage reference values psi can be set in the different processesref；
The observer selector switch of the embedded control system is responsible for switching two observers to synthesize flux linkage observed values of the whole process
The topology control module determines whether to switch the switching tube S according to the action signal of the observer switch4Set to a normally on state.
9. The state-observer-based contactor flux linkage closed-loop control method according to claim 8, wherein: the software strategy of the embedded control system is divided into a starting process, a holding process and a breaking process according to a control time sequence; the process control module enables the embedded control system to work according to different software strategies according to the control instruction;
observer diverter switch selection when the embedded control system executes a software strategy for the startup process
ψrefAnd
controlling a reference value i of a current inner loop control module through hysteresis comparison of a flux linkage outer loop control modulerefAt a current maximum value imaxAnd 0, after irefAnd icoilThrough hysteresis comparison of the current inner loop control module, output signals PWM1 and PWM4, PWM1 control S1The topology control module directly uses the PWM4 signal to control S during startup4The on-off state of the contactor is changed between a +1 state and a-1 state to quickly reach the reference current, so that the magnetic flux linkage of the magnetic circuit of the contactor coil is equal to the starting flux linkage reference value;
psi when the embedded control system implements the software strategy of the maintenance procedurerefIs set to a hold value, and the observer switches are still selected
And is combined with psirefHysteresis comparison to control iref，irefAnd icoilHysteresis comparison, control circuit state switching between +1 state and-1 state to quickly reach psirefObserver switch selection after magnetic flux linkage equals to holding flux linkage reference value
Connecting the flux linkage closed-loop observer into a flux linkage outer ring control module to keep the flux linkage observer stably connected, detecting a switching signal of an observer switch by a topology control module, and switching S4The circuit state of the coil of the contactor is switched between a +1 state and a 0 state to maintain the constant current dynamic state of the coil, reduce the conduction period number of the electronic switch, reduce the loss and better save energy;
when the embedded control system executes a software strategy of a breaking process, the process control module directly controls the current inner ring to set PWM1 and PWM4 to be 0, and the topology control module is matched to rapidly set the circuit state to be-1 state, so that the electromagnetic coil of the contactor is rapidly demagnetized, and the contactor is broken.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010450326.XA CN111580436B (en) | 2020-05-25 | 2020-05-25 | Contactor flux linkage closed-loop control method based on state observer |
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| 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 |
| CN113777924A (en) * | 2021-09-10 | 2021-12-10 | 福州大学 | Direct suction closed-loop control method and system of contactor |
| WO2023142464A1 (en) * | 2022-01-30 | 2023-08-03 | 福州大学 | Integrated flux linkage closed-loop control system of monostable permanent magnet contactor |
| CN117894634A (en) * | 2024-03-15 | 2024-04-16 | 厦门理工学院 | Contactor driving circuit and device based on constant magnetic induction intensity |
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| CN117894634A (en) * | 2024-03-15 | 2024-04-16 | 厦门理工学院 | Contactor driving circuit and device based on constant magnetic induction intensity |
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