CN113270293B - Single-magnetic-chain closed-loop self-correction control device and method for contactor - Google Patents
Single-magnetic-chain closed-loop self-correction control device and method for contactor Download PDFInfo
- Publication number
- CN113270293B CN113270293B CN202110544099.1A CN202110544099A CN113270293B CN 113270293 B CN113270293 B CN 113270293B CN 202110544099 A CN202110544099 A CN 202110544099A CN 113270293 B CN113270293 B CN 113270293B
- Authority
- CN
- China
- Prior art keywords
- flux linkage
- closed
- loop
- observer
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- H01H47/22—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for supplying energising current for relay coil
-
- 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
- H01H47/22—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for supplying energising current for relay coil
- H01H47/32—Energising current supplied by semiconductor device
Abstract
The invention relates to a single magnetic chain closed-loop self-correction control device of a contactor, which comprises a rectifier bridge, a tri-state drive circuit and an embedded control system which are connected in sequence; the embedded control system comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a change-over switch, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; the flux linkage closed-loop regulator, the flux linkage optimizing detection module and the time sequence module are sequentially connected; the change-over switch is respectively connected with the embedded control system, wherein the change-over switch comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; and the flux linkage closed-loop observer is also connected with the flux linkage optimization detection module. The invention realizes automatic optimization of flux linkage, improves the contact bounce in the contactor suction process and keeps the energy-saving level in the process under flux linkage closed-loop control.
Description
Technical Field
The invention relates to the field of electric appliance control, in particular to a single-magnetic-chain closed-loop self-correction control device and method for a contactor.
Background
The power grid system is increasingly intelligent and complicated, and the contactor is just one of the core components, and the performance index directly influences the safety and stability of the whole power grid control system. Aiming at the problems of serious contact bounce, high holding power consumption, high operation noise and the like of the traditional alternating current contactor, a large number of students improve the body design and intelligent control. At present, a Pulse Width Modulation (PWM) technique is widely applied to contactor control, and most control strategies perform complex optimization control on the basis of closed-loop control of coil voltage or current, thereby improving the dynamic performance of the contactor. The keeping process is under the constant current closed loop, when the air gap between the moving iron core and the static iron core is suddenly increased due to external vibration, the current of the coil is forced to rise, the current closed loop enters vicious circle, so that the excitation is stopped, and the separation of the moving iron core is intensified. The inherent defect of the current closed-loop control in the holding process restricts the application of the contactor in a high-vibration and strong-impact environment. Because the contactor works in the holding state most of the time and consumes a large amount of electric energy, the energy-saving holding of the contactor has important economic benefit. Although the higher holding current can improve the holding reliability to a certain extent, the inherent defect of a current closed loop cannot be fundamentally avoided, and the coil loss is increased; lower holding currents more easily trap the contactor in the vicious cycle of current closed loops, reducing holding reliability. Therefore, an intelligent control scheme is designed, the inherent defect of current closed-loop maintenance is overcome, energy-saving maintenance and reliable maintenance are both considered, and the intelligent control scheme plays a vital role in the operation reliability and the economy of the contactor.
At present, the existing scholars propose a double closed loop structure of a flux linkage outer loop control current inner loop to obtain better bounce suppression and energy-saving holding effects. However, the double closed-loop control structure causes that the response speed of the outer-loop flux linkage is seriously limited by the control speed of the inner-loop current, is not favorable for the quick adjustment of the flux linkage, and a self-correction method of flux linkage parameters is not provided.
Disclosure of Invention
In view of this, the present invention provides a single flux linkage closed-loop self-calibration control apparatus and method for a contactor, so as to achieve automatic flux linkage optimization, improve contact bounce in a contactor actuation process under flux linkage closed-loop control, and maintain an energy-saving level in the contactor actuation process.
In order to realize the purpose, the invention adopts the following technical scheme:
a single magnetic chain closed loop self-correction control device of a contactor comprises a rectifier bridge, a tri-state drive circuit and an embedded control system which are connected in sequence; the embedded control system comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a change-over switch, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; the flux linkage closed-loop regulator, the flux linkage optimizing detection module and the time sequence module are sequentially connected; the change-over switch is respectively connected with the embedded control system, wherein the change-over switch comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; and the flux linkage closed-loop observer is also connected with the flux linkage optimization detection module.
Furthermore, the tri-state driving circuit is provided with a voltage sensor and a current sensor.
Further, the flux linkage closed-loop regulator is constructed by adopting a hysteresis control method, which is specifically as followsActual flux linkage psi and flux linkage reference psi ref Comparing to obtain flux linkage errors delta psi and delta psi<When 0, a +1 state circuit is adopted to enable the flux linkage to rise rapidly; 0<△ψ<When epsilon, a 0-state circuit is adopted to make the magnetic linkage slowly descend; and delta psi>When epsilon is generated, a-1 state circuit is adopted to lead the magnetic linkage to be rapidly reduced; the selected voltage state is then input into a selection table, which is converted into S 1 、S 4 For controlling the tri-state drive circuit.
A control method of a single-flux-linkage closed-loop self-correction control device of a contactor comprises the following steps:
voltage and current sensors are added in a tri-state drive circuit to measure the voltage u of the coil coil Current i coil Sending into flux linkage observer to calculate integral flux linkage in real time
And closed-loop state flux linkage
The time sequence module controls the contactor to enter the starting, maintaining and breaking processes, and controls the selector switch to select a proper flux linkage observation value to synthesize an actual flux linkage
Setting flux linkage reference value as starting value in starting process, and selecting integral observer to synthesize
The contactor completes constant magnetic chain starting under the closed-loop control of the magnetic chain;
setting a flux linkage reference value as a holding value after reliable pull-in, performing online calculation of magnetic circuit inductance after flux linkage is stabilized at the holding value, and assigning inductance value to a closed loop state observer'
Switching of the observer can be performed after the configuration of the inductance parameters of the closed-loop observer is completed, and the observer can be selected
To synthesize
And further completing the constant magnetic chain starting of the contactor and the closed-loop control of the constant magnetic chain maintaining.
Further, the contactor can enter a flux linkage self-correction process after being stably maintained, and the flux linkage self-correction process comprises the following specific steps:
under the action of flux linkage closed loop, the current flux linkage reference value psi ref1 Initially, every Δ t, the reference flux linkage is reduced by Δ ψ q Until the magnetic linkage jump is monitored;
after the flux linkage is reduced to a new reference value, the on-line calculation of the magnetic circuit inductance is carried out again, the inductance parameter in the closed loop state observer is automatically updated, and then the state observer is switched;
in each flux linkage decrement process before jumping up, an integral observer and a state observer are used in a staggered mode, the advantages of each observer are fully exerted, and flux linkage observation accuracy is guaranteed;
in the self-correcting process, once the flux linkage jump is monitored, strong excitation is rapidly applied to prevent the iron core from rebounding continuously, the critical flux linkage at the moment is recorded and multiplied by proper margins respectively to be used as a corrected flux linkage starting reference value and a flux linkage keeping reference value, and the self-correcting process is finished.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the optimal voltage state is flexibly selected according to flux linkage errors in the whole working process of the contactor, so that on one hand, the rapidity of response can be ensured when the excitation state is adjusted in a large range, on the other hand, the conduction period number of a power electronic switch can be reduced when the excitation state is dynamically stable in a small range, and the dynamic response and stable state energy saving of excitation are both considered.
Drawings
FIG. 1 is an electromagnetic mechanism tri-state drive topology in one embodiment of the present invention;
FIG. 2 is a schematic of a flux linkage closed loop regulator in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a flux linkage single closed loop self-calibration control of the present invention;
FIG. 4 is a flow chart of flux linkage closed loop self-calibration control of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
Referring to fig. 1, the present embodiment provides a three-state driving topology of a contactor electromagnetic mechanism as shown in fig. 1: the input voltage passes through a rectifier bridge D 1 And a filter capacitor C 1 After the action, the DC voltage is output. S 1 、S 4 Being electronic switching tubes, D 2 、D 3 The fast recovery diodes jointly form a coil voltage control circuit. 3 states are defined according to the polarity of the voltage applied to the coil: when S is 1 、S 4 Conducting at the same time, applying forward voltage to two ends of the coil, and defining the voltage state as +1 state; when S is 1 、S 4 Are turned off simultaneously, the coil current flows through D 2 、D 3 The current flows back to the filter capacitor, the voltage at the two ends of the coil is negative capacitor voltage, and the voltage state at the moment is defined as-1 state; when S is 1 Off, S 4 Conducting the coil current through D 3 、S 4 Forming a closed loop with a voltage D across the coil 3 And S 4 The tube voltage drop, approximately 0V, defines the voltage state at this time as the 0 state.
TABLE 1 Voltage State selection Table
| Voltage state | +1 state | -1 state | State 0 |
| S 1 、S 4 On-off state | (1,1) | (0,0) | (0,1) |
| Flux linkage change | ψ↑↑ | ψ↓↓ | ψ↓ |
In the table: ↓ represents fast increasing, and ↓ represents fast decreasing, and ↓ represents slow decreasing.
The effect of each voltage state on flux linkage is shown in Table 1, therefore by controlling S 1 、S 4 The switch state of the switch can select a proper voltage state, and then the change direction and the change speed of the excitation magnetic linkage are flexibly controlled. The flux linkage closed-loop regulator shown in fig. 2 is designed accordingly, and direct single closed-loop control is carried out on flux linkage of the contactor.
As shown in fig. 2, a hysteresis control method is used to construct a flux linkage closed-loop regulator: actual flux linkage psi and flux linkage reference value psi ref Comparing to obtain flux linkage errors delta psi and delta psi<When 0, a +1 state circuit is adopted to enable the flux linkage to rise rapidly; 0<△ψ<When epsilon, a 0-state circuit is adopted to make the magnetic linkage slowly descend; and Δ ψ>When epsilon, a-1 state circuit is adopted to make the magnetic linkage quickly drop. The selected voltage state is then input into a selection table, which is converted into S 1 、S 4 For controlling the tri-state drive circuit.
Referring to fig. 3, in this embodiment, a single flux linkage closed-loop self-calibration control device of a contactor is constructed by combining a tri-state drive circuit, a flux linkage closed-loop regulator and a moving core separation criterion, and includes a rectifier bridge, a tri-state drive circuit and an embedded control system, which are connected in sequence; the embedded control system comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a change-over switch, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; the flux linkage closed-loop regulator, the flux linkage optimizing detection module and the time sequence module are sequentially connected; the change-over switch is respectively connected with the embedded control system, wherein the change-over switch comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; and the flux linkage closed-loop observer is also connected with the flux linkage optimization detection module.
Referring to fig. 4, the specific control method in this embodiment is as follows:
adding voltage and current sensors into the tristate drive circuit to measure u coil 、i coil Sending into flux linkage observer, and calculating integral flux linkage in real time
And closed-loop state flux linkage
The time sequence module controls the contactor to enter the starting, maintaining and breaking processes, and controls the selector switch to select a proper flux linkage observation value to synthesize an actual flux linkage
Setting flux linkage reference value as starting value in starting process, and selecting integral observer to synthesize
The contactor completes constant magnetic chain starting under the closed-loop control of the magnetic chain.
And after reliable attraction, setting a flux linkage reference value as a holding value, performing online calculation on the magnetic circuit inductor after the flux linkage is stabilized at the holding value, and assigning the inductance value to a closed loop state observer.
Switching of the observer can be performed after the configuration of the inductance parameters of the closed-loop observer is completed, and the observer can be selected
To synthesize
Thereby completing the contactorThe constant magnetic chain starting and the constant magnetic chain maintaining are controlled in a closed loop mode.
After the contactor is stably maintained, the flux linkage self-correcting process can be carried out: under the action of flux linkage closed loop, the current flux linkage reference value psi ref1 Initially, every Δ t, the reference flux linkage is reduced by Δ ψ q Until the flux linkage jump is monitored.
The method is characterized in that the change of the flux linkage is kept under the influence of magnetic circuit saturation, so that the change of the inductance of the magnetic circuit is inevitably caused, the flux linkage is switched to an integral observer independent of the inductance when the flux linkage is changed in the self-correcting process, the on-line calculation of the inductance of the magnetic circuit is carried out again after the flux linkage is reduced to a new reference value, the inductance parameter in the closed-loop state observer is automatically updated, and then the state observer is switched.
In each flux linkage decrement process before jumping up, an integral observer and a state observer are used in a staggered mode, the advantages of the integral observer and the state observer are fully played, and flux linkage observation accuracy is guaranteed. In the self-correcting process, once the flux linkage jump is monitored, strong excitation is rapidly applied to prevent the iron core from rebounding continuously, the critical flux linkage at the moment is recorded and multiplied by proper margins respectively to be used as a corrected flux linkage starting reference value and a flux linkage keeping reference value, and the self-correcting process is finished.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (3)
1. A single magnetic chain closed loop self-correction control device of a contactor is characterized by comprising a rectifier bridge, a tri-state drive circuit and an embedded control system which are connected in sequence; the embedded control system comprises a flux linkage closed-loop regulator, a flux linkage optimization detection module, a time sequence module, a change-over switch, a voltage integral flux linkage observer and a flux linkage closed-loop state observer; the flux linkage closed-loop regulator, the flux linkage optimization detection module and the time sequence module are sequentially connected; the change-over switch is connected with the embedded control system; the flux linkage closed loop state observer is also connected with the flux linkage optimization detection module;
the control method of the device comprises the following specific steps:
voltage and current sensors are added in a tri-state drive circuit to measure the voltage u of the coil coil Current i coil Sending into flux linkage observer to calculate integral flux linkage in real time
And closed-loop state flux linkage
The time sequence module controls the contactor to enter the starting, maintaining and breaking processes, and controls the selector switch to select a proper flux linkage observation value to synthesize an actual flux linkage
Setting flux linkage reference value as starting value in starting process, and selecting integral observer to synthesize
The contactor completes constant magnetic chain starting under the closed-loop control of the magnetic chain;
after reliable attraction, setting a flux linkage reference value as a holding value, performing online calculation of magnetic circuit inductance after flux linkage is stabilized at the holding value, and assigning the inductance value to a closed-loop state observer;
switching of the observer can be performed after the configuration of the inductance parameters of the closed-loop observer is completed, and the observer can be selected
To synthesize
Thereby completing the constant magnetic chain starting of the contactor and the closed-loop control of the constant magnetic chain maintaining;
the contactor can enter a flux linkage self-correcting process after being stably maintained, and the method specifically comprises the following steps:
under the action of flux linkage closed loop, the current flux linkage reference value psi ref1 Initially, every Δ t, the reference flux linkage is reduced by Δ ψ q Until the magnetic linkage jump is monitored;
after the flux linkage is reduced to a new reference value, the on-line calculation of the magnetic circuit inductance is carried out again, the inductance parameter in the closed-loop state observer is automatically updated, and then the state observer is switched;
in each flux linkage decreasing process before jumping, an integral observer and a state observer are used in a staggered mode, and the accuracy of flux linkage observation is guaranteed;
in the self-correcting process, once the flux linkage jump is monitored, strong excitation is rapidly applied to prevent the iron core from continuously rebounding, the critical flux linkage at the moment is recorded and multiplied by proper margins respectively to be used as a corrected flux linkage starting reference value and a flux linkage keeping reference value, and the self-correcting process is completed.
2. The single flux linkage closed loop self-calibration control device of a contactor as claimed in claim 1, wherein said tri-state drive circuit is provided with a voltage sensor and a current sensor.
3. The contactor single flux linkage closed-loop self-correction control device according to claim 1, wherein the flux linkage closed-loop regulator is constructed by hysteresis control method, specifically, actual flux linkage psi and flux linkage reference value psi ref Comparing to obtain flux linkage errors delta psi and delta psi<When 0, a +1 state circuit is adopted to enable the flux linkage to rise rapidly; 0<△ψ<When epsilon, a 0-state circuit is adopted to make the magnetic linkage slowly descend; and delta psi>When epsilon exists, a-1 state circuit is adopted to lead the magnetic linkage to be rapidly reduced; then the selected voltage state is inputted into the selection table and converted into S 1 、S 4 For controlling the tri-state drive circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110544099.1A CN113270293B (en) | 2021-05-19 | 2021-05-19 | Single-magnetic-chain closed-loop self-correction control device and method for contactor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110544099.1A CN113270293B (en) | 2021-05-19 | 2021-05-19 | Single-magnetic-chain closed-loop self-correction control device and method for contactor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113270293A CN113270293A (en) | 2021-08-17 |
| CN113270293B true CN113270293B (en) | 2022-09-09 |
Family
ID=77231767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110544099.1A Active CN113270293B (en) | 2021-05-19 | 2021-05-19 | Single-magnetic-chain closed-loop self-correction control device and method for contactor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113270293B (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4434450A (en) * | 1981-12-21 | 1984-02-28 | General Electric Company | Controlled flux contactor |
| CN110085479B (en) * | 2019-05-31 | 2020-10-02 | 福州大学 | Fuzzy logic-based successive closed-loop self-correction control method for just-closing speed of contactor |
| CN111580436B (en) * | 2020-05-25 | 2022-09-09 | 福州大学 | Contactor flux linkage closed-loop control method based on state observer |
-
2021
- 2021-05-19 CN CN202110544099.1A patent/CN113270293B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113270293A (en) | 2021-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112682561B (en) | Drive control system and control method of high-speed switch electromagnetic valve | |
| CN105009232B (en) | The method controlled for the course of injection to magnetic injectors | |
| CN109058562B (en) | Composite PWM control method for high-speed switch valve | |
| CN204533737U (en) | For the electromagnetic actuator device of solenoid valve | |
| CN106952782B (en) | Contactor velocity close-loop control method neural network based | |
| CN107658181B (en) | A kind of contactor electricity-saving appliance | |
| CN102543578B (en) | Real-time control intelligent alternating-current contactor with full-closed loops | |
| CN105551885B (en) | The power save circuit of contactor | |
| CN109712846B (en) | Flux linkage closed-loop control method for electromagnetic mechanism | |
| CN111580436B (en) | Contactor flux linkage closed-loop control method based on state observer | |
| CN113270293B (en) | Single-magnetic-chain closed-loop self-correction control device and method for contactor | |
| CN104896172B (en) | A kind of control method of urea pump air solenoid valve | |
| CN112594436A (en) | Power electromagnetic valve quick start circuit and start method | |
| CN104633225A (en) | Drive and control circuit for fast solenoid valve | |
| CN111810700A (en) | High-dynamic high-frequency-response control system and method for electromagnetic valve | |
| CN1235332C (en) | Electromagnetic driving circuit | |
| CN110085479A (en) | Contactor based on fuzzy logic has just closed speed gradually closed loop automatic correction controling method | |
| CN111810698B (en) | High-dynamic high-frequency-response control method for electromagnetic valve based on voltage pulse width modulation technology | |
| Tang et al. | The self-correcting control strategy of a single flux linkage closed loop for a contactor | |
| CN201503817U (en) | Improved control loop of electronic contactor | |
| CN201122904Y (en) | Summit current operated electric voltage feed forward circuit in switch power source | |
| CN111828715B (en) | Control system and method for realizing rapid movement of electromagnetic valve | |
| CN205335171U (en) | Coil drive circuit of contactor | |
| CN205377665U (en) | From supply control circuit and switch circuit | |
| CN211738171U (en) | High-dynamic high-frequency-response control system for electromagnetic valve |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |